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[wpilib] Document how to create LinearSystem object for physics sim classes (NFC) (#5488)

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Fixes #4372.
This commit is contained in:
Tyler Veness
2023-07-31 19:18:17 -07:00
committed by GitHub
parent a01b6467d3
commit 6aa469ae45
10 changed files with 38 additions and 18 deletions
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4
wpilibc/src/main/native/include/frc/simulation/DCMotorSim.h
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@@ -21,7 +21,9 @@ class DCMotorSim : public LinearSystemSim<2, 1, 2> {
/**
* Creates a simulated DC motor mechanism.
*
* @param plant The linear system representing the DC motor.
* @param plant The linear system representing the DC motor. This
* system can be created with
* LinearSystemId::DCMotorSystem().
* @param gearbox The type of and number of motors in the DC motor
* gearbox.
* @param gearing The gearing of the DC motor (numbers greater than

4
wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
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@@ -19,7 +19,7 @@ namespace frc::sim {
class DifferentialDrivetrainSim {
public:
/**
* Create a SimDrivetrain.
* Creates a simulated differential drivetrain.
*
* @param plant The LinearSystem representing the robot's drivetrain. This
* system can be created with
@@ -46,7 +46,7 @@ class DifferentialDrivetrainSim {
const std::array<double, 7>& measurementStdDevs = {});
/**
* Create a SimDrivetrain.
* Creates a simulated differential drivetrain.
*
* @param driveMotor A DCMotor representing the left side of the drivetrain.
* @param gearing The gearing on the drive between motor and wheel, as

2
wpilibc/src/main/native/include/frc/simulation/ElevatorSim.h
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@@ -23,6 +23,8 @@ class ElevatorSim : public LinearSystemSim<2, 1, 1> {
* Constructs a simulated elevator mechanism.
*
* @param plant The linear system that represents the elevator.
* This system can be created with
* LinearSystemId::ElevatorSystem().
* @param gearbox The type of and number of motors in your
* elevator gearbox.
* @param gearing The gearing of the elevator (numbers greater

4
wpilibc/src/main/native/include/frc/simulation/FlywheelSim.h
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@@ -20,7 +20,9 @@ class FlywheelSim : public LinearSystemSim<1, 1, 1> {
/**
* Creates a simulated flywheel mechanism.
*
* @param plant The linear system representing the flywheel.
* @param plant The linear system representing the flywheel. This
* system can be created with
* LinearSystemId::FlywheelSystem().
* @param gearbox The type of and number of motors in the flywheel
* gearbox.
* @param gearing The gearing of the flywheel (numbers greater than

4
wpilibc/src/main/native/include/frc/simulation/SingleJointedArmSim.h
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@@ -23,7 +23,9 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 1> {
/**
* Creates a simulated arm mechanism.
*
* @param system The system representing this arm.
* @param system The system representing this arm. This system can
* be created with
* LinearSystemId::SingleJointedArmSystem().
* @param gearbox The type and number of motors on the arm gearbox.
* @param gearing The gear ratio of the arm (numbers greater than 1
* represent reductions).