Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpilib] Add set functions to differential drive simulation (#2746)

Browse Source 
All the other simulation objects already have functions like this
through LinearSystemSim.
This commit is contained in:
Tyler Veness
2020-09-27 13:26:47 -07:00
committed by GitHub
parent c55fb583b8
commit 62731bea20
3 changed files with 45 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
View File

@@ -174,6 +174,26 @@ public class DifferentialDrivetrainSim {
this.m_currentGearing = newGearRatio;
}
/**
* Sets the system state.
*
* @param state The state.
*/
public void setState(Matrix<N7, N1> state) {
m_x = state;
}
/**
* Sets the system pose.
*
* @param pose The pose.
*/
public void setPose(Pose2d pose) {
m_x.set(State.kX.value, 0, pose.getX());
m_x.set(State.kY.value, 0, pose.getY());
m_x.set(State.kHeading.value, 0, pose.getRotation().getRadians());
}
@SuppressWarnings({"DuplicatedCode", "LocalVariableName"})
protected Matrix<N7, N1> getDynamics(Matrix<N7, N1> x, Matrix<N2, N1> u) {