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[wpilib] Allow disabling ElevatorSim gravity (#4145)

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Closes #4144.
This commit is contained in:
Tyler Veness
2022-04-24 07:19:18 -07:00
committed by GitHub
parent aaa69f6717
commit 9d20ab3024
9 changed files with 97 additions and 54 deletions
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5
wpilibc/src/main/native/include/frc/simulation/ElevatorSim.h
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@@ -31,11 +31,13 @@ class ElevatorSim : public LinearSystemSim<2, 1, 1> {
* wrapped around.
* @param minHeight The minimum allowed height of the elevator.
* @param maxHeight The maximum allowed height of the elevator.
* @param simulateGravity Whether gravity should be simulated or not.
* @param measurementStdDevs The standard deviation of the measurements.
*/
ElevatorSim(const LinearSystem<2, 1, 1>& plant, const DCMotor& gearbox,
double gearing, units::meter_t drumRadius,
units::meter_t minHeight, units::meter_t maxHeight,
bool simulateGravity,
const std::array<double, 1>& measurementStdDevs = {0.0});
/**
@@ -50,11 +52,13 @@ class ElevatorSim : public LinearSystemSim<2, 1, 1> {
* wrapped around.
* @param minHeight The minimum allowed height of the elevator.
* @param maxHeight The maximum allowed height of the elevator.
* @param simulateGravity Whether gravity should be simulated or not.
* @param measurementStdDevs The standard deviation of the measurements.
*/
ElevatorSim(const DCMotor& gearbox, double gearing,
units::kilogram_t carriageMass, units::meter_t drumRadius,
units::meter_t minHeight, units::meter_t maxHeight,
bool simulateGravity,
const std::array<double, 1>& measurementStdDevs = {0.0});
/**
@@ -133,5 +137,6 @@ class ElevatorSim : public LinearSystemSim<2, 1, 1> {
units::meter_t m_minHeight;
units::meter_t m_maxHeight;
double m_gearing;
bool m_simulateGravity;
};
} // namespace frc::sim

10
wpilibc/src/main/native/include/frc/simulation/SingleJointedArmSim.h
View File

@@ -30,14 +30,14 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 1> {
* @param armLength The length of the arm.
* @param minAngle The minimum angle that the arm is capable of.
* @param maxAngle The maximum angle that the arm is capable of.
* @param mass The mass of the arm.
* @param measurementStdDevs The standard deviations of the measurements.
* @param armMass The mass of the arm.
* @param simulateGravity Whether gravity should be simulated or not.
* @param measurementStdDevs The standard deviations of the measurements.
*/
SingleJointedArmSim(const LinearSystem<2, 1, 1>& system,
const DCMotor& gearbox, double gearing,
units::meter_t armLength, units::radian_t minAngle,
units::radian_t maxAngle, units::kilogram_t mass,
units::radian_t maxAngle, units::kilogram_t armMass,
bool simulateGravity,
const std::array<double, 1>& measurementStdDevs = {0.0});
/**
@@ -52,8 +52,8 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 1> {
* @param minAngle The minimum angle that the arm is capable of.
* @param maxAngle The maximum angle that the arm is capable of.
* @param mass The mass of the arm.
* @param measurementStdDevs The standard deviation of the measurement noise.
* @param simulateGravity Whether gravity should be simulated or not.
* @param measurementStdDevs The standard deviation of the measurement noise.
*/
SingleJointedArmSim(const DCMotor& gearbox, double gearing,
units::kilogram_square_meter_t moi,
@@ -150,7 +150,7 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 1> {
units::meter_t m_r;
units::radian_t m_minAngle;
units::radian_t m_maxAngle;
units::kilogram_t m_mass;
units::kilogram_t m_armMass;
const DCMotor m_gearbox;
double m_gearing;
bool m_simulateGravity;