[sim] Create Left/Right drivetrain current accessors (#3001)

2026-06-29 02:21:44 +00:00 · 2020-12-29 23:46:51 -05:00
parent b60eb1544b
commit 66782e2317
3 changed files with 29 additions and 4 deletions
--- a/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
@@ -158,6 +158,16 @@ class DifferentialDrivetrainSim {
    return units::meters_per_second_t{GetOutput(State::kLeftVelocity)};
  }

+  /**
+   * Returns the currently drawn current for the right side.
+   */
+  units::ampere_t GetRightCurrentDraw() const;
+
+  /**
+   * Returns the currently drawn current for the left side.
+   */
+  units::ampere_t GetLeftCurrentDraw() const;
+
  /**
   * Returns the currently drawn current.
   */