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[wpilib] DCMotorSim cleanup/enhancement (#7021)

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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Nicholas Armstrong
2024-10-11 01:09:22 -04:00
committed by GitHub
parent 5acb4109ff
commit 5d9a553104
6 changed files with 245 additions and 69 deletions
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10
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DCMotorSimTest.java
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@@ -7,7 +7,11 @@ package edu.wpi.first.wpilibj.simulation;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N2;
import edu.wpi.first.math.system.LinearSystem;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
@@ -19,7 +23,8 @@ class DCMotorSimTest {
RoboRioSim.resetData();
DCMotor gearbox = DCMotor.getNEO(1);
DCMotorSim sim = new DCMotorSim(gearbox, 1.0, 0.0005);
LinearSystem<N2, N1, N2> plant = LinearSystemId.createDCMotorSystem(gearbox, 0.0005, 1);
DCMotorSim sim = new DCMotorSim(plant, gearbox);
try (var motor = new PWMVictorSPX(0);
var encoder = new Encoder(0, 1)) {
@@ -59,7 +64,8 @@ class DCMotorSimTest {
RoboRioSim.resetData();
DCMotor gearbox = DCMotor.getNEO(1);
DCMotorSim sim = new DCMotorSim(gearbox, 1.0, 0.0005);
LinearSystem<N2, N1, N2> plant = LinearSystemId.createDCMotorSystem(gearbox, 0.0005, 1);
DCMotorSim sim = new DCMotorSim(plant, gearbox);
try (var motor = new PWMVictorSPX(0);
var encoder = new Encoder(0, 1);