From 85ea5f84976c6af87b40dbfb5603673bbdbb854b Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Sun, 24 Mar 2024 23:50:41 -0700
Subject: [PATCH] [wpimath] Make more LinearSystemId functions not throw if Kv
 = 0 (#6465)

---
 .../java/edu/wpi/first/math/system/plant/LinearSystemId.java  | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java b/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
index bff21492ef..6d8e39a23e 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
@@ -262,7 +262,7 @@ public final class LinearSystemId {
    * @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
    */
   public static LinearSystem<N1, N1, N1> identifyVelocitySystem(double kV, double kA) {
-    if (kV <= 0.0) {
+    if (kV < 0.0) {
       throw new IllegalArgumentException("Kv must be greater than or equal to zero.");
     }
     if (kA <= 0.0) {
@@ -295,7 +295,7 @@ public final class LinearSystemId {
    * @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
    */
   public static LinearSystem<N2, N1, N1> identifyPositionSystem(double kV, double kA) {
-    if (kV <= 0.0) {
+    if (kV < 0.0) {
       throw new IllegalArgumentException("Kv must be greater than or equal to zero.");
     }
     if (kA <= 0.0) {