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[wpilib] Clean up DifferentialDrivetrainSim API (#2747)

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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Prateek Machiraju
2020-09-27 16:25:17 -04:00
committed by GitHub
parent 1320691eb4
commit 9725aff83b
5 changed files with 26 additions and 22 deletions
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21
wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
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@@ -62,7 +62,7 @@ class DifferentialDrivetrainSim {
units::meter_t trackWidth);
/**
* Set the applied voltage to the drivetrain. Note that positive voltage must
* Sets the applied voltage to the drivetrain. Note that positive voltage must
* make that side of the drivetrain travel forward (+X).
*
* @param leftVoltage The left voltage.
@@ -71,7 +71,7 @@ class DifferentialDrivetrainSim {
void SetInputs(units::volt_t leftVoltage, units::volt_t rightVoltage);
/**
* Set the gearing reduction on the drivetrain. This is commonly used for
* Sets the gearing reduction on the drivetrain. This is commonly used for
* shifting drivetrains.
*
* @param newGearing The new gear ratio, as output over input.
@@ -94,7 +94,8 @@ class DifferentialDrivetrainSim {
double GetState(int state) const;
/**
* Get the current gearing reduction of the drivetrain, as output over input.
* Returns the current gearing reduction of the drivetrain, as output over
* input.
*/
double GetGearing() const;
@@ -104,15 +105,17 @@ class DifferentialDrivetrainSim {
Eigen::Matrix<double, 7, 1> GetState() const;
/**
* Get the estimated direction the robot is pointing. Note that this angle is
* counterclockwise-positive, while most gyros are clockwise positive.
* Returns the direction the robot is pointing.
*
* Note that this angle is counterclockwise-positive, while most gyros are
* clockwise positive.
*/
Rotation2d GetHeading() const;
/**
* Returns the current estimated position.
* Returns the current pose.
*/
Pose2d GetEstimatedPosition() const;
Pose2d GetPose() const;
/**
* Returns the currently drawn current.
@@ -173,7 +176,7 @@ class DifferentialDrivetrainSim {
* @param gearing The gearing reduction used.
* @param wheelSize The wheel size.
*/
static DifferentialDrivetrainSim createKitbotSim(frc::DCMotor motor,
static DifferentialDrivetrainSim CreateKitbotSim(frc::DCMotor motor,
double gearing,
units::meter_t wheelSize) {
// MOI estimation -- note that I = m r^2 for point masses
@@ -195,7 +198,7 @@ class DifferentialDrivetrainSim {
* @param J The moment of inertia of the drivebase. This can be
* calculated using frc-characterization.
*/
static DifferentialDrivetrainSim createKitbotSim(
static DifferentialDrivetrainSim CreateKitbotSim(
frc::DCMotor motor, double gearing, units::meter_t wheelSize,
units::kilogram_square_meter_t J) {
return DifferentialDrivetrainSim{motor, gearing, J,