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Merge branch 'main' into 2027

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This commit is contained in:
Peter Johnson
2025-11-29 10:41:16 -08:00
parent a79f86ade3 769ce5e9fa
commit 704b6ccaee
8 changed files with 41 additions and 17 deletions
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wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
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@@ -90,7 +90,7 @@ wpi::units::ampere_t ElevatorSim::GetCurrentDraw() const {
double kA = 1.0 / m_plant.B(1, 0);
using Kv_t = wpi::units::unit_t<wpi::units::compound_unit<
wpi::units::volt, wpi::units::inverse<wpi::units::meters_per_second>>>;
Kv_t Kv = Kv_t{kA * m_plant.A(1, 1)};
Kv_t Kv = Kv_t{-kA * m_plant.A(1, 1)};
wpi::units::meters_per_second_t velocity{m_x(1)};
wpi::units::radians_per_second_t motorVelocity = velocity * Kv * m_gearbox.Kv;