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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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16
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
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@@ -101,7 +101,7 @@ public class DifferentialDrivetrainSim {
}
/**
* Set the applied voltage to the drivetrain. Note that positive voltage must make that
* Sets the applied voltage to the drivetrain. Note that positive voltage must make that
* side of the drivetrain travel forward (+X).
*
* @param leftVoltageVolts The left voltage.
@@ -123,24 +123,26 @@ public class DifferentialDrivetrainSim {
}
/**
* Get the full simulated state of the drivetrain.
* Returns the full simulated state of the drivetrain.
*/
public Matrix<N7, N1> getState() {
return m_x;
}
/**
* 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.
*
* <p>Note that this angle is counterclockwise-positive, while most gyros are
* clockwise positive.
*/
public Rotation2d getHeading() {
return new Rotation2d(getState(State.kHeading));
}
/**
* Get the estimated position of the drivetrain.
* Returns the current pose.
*/
public Pose2d getEstimatedPosition() {
public Pose2d getPose() {
return new Pose2d(m_x.get(0, 0),
m_x.get(1, 0),
new Rotation2d(m_x.get(2, 0)));
@@ -163,7 +165,7 @@ public class DifferentialDrivetrainSim {
}
/**
* 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 newGearRatio The new gear ratio, as output over input.