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[wpilibc] DCMotorSim: Add setAngle/setAngularVelocity (parity with Java) (#7613)

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This commit is contained in:
Dustin Spicuzza
2024-12-31 17:30:16 -05:00
committed by GitHub
parent 4edf52d3b6
commit 86137c49f5
2 changed files with 23 additions and 0 deletions
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9
wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp
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@@ -42,6 +42,15 @@ void DCMotorSim::SetState(units::radian_t angularPosition,
SetState(Vectord<2>{angularPosition, angularVelocity});
}
void DCMotorSim::SetAngle(units::radian_t angularPosition) {
SetState(angularPosition, GetAngularVelocity());
}
void DCMotorSim::SetAngularVelocity(
units::radians_per_second_t angularVelocity) {
SetState(GetAngularPosition(), angularVelocity);
}
units::radian_t DCMotorSim::GetAngularPosition() const {
return units::radian_t{GetOutput(0)};
}