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[wpilib] Add mechanism specific SetState overloads to physics sims (#5534)

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This commit is contained in:
Ryan Blue
2023-08-12 18:21:07 -04:00
committed by GitHub
parent 8121566258
commit a4b7fde767
12 changed files with 112 additions and 6 deletions
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5
wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp
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@@ -24,6 +24,11 @@ DCMotorSim::DCMotorSim(const DCMotor& gearbox, double gearing,
: DCMotorSim(LinearSystemId::DCMotorSystem(gearbox, moi, gearing), gearbox,
gearing, measurementStdDevs) {}
void DCMotorSim::SetState(units::radian_t angularPosition,
units::radians_per_second_t angularVelocity) {
SetState(Vectord<2>{angularPosition, angularVelocity});
}
units::radian_t DCMotorSim::GetAngularPosition() const {
return units::radian_t{GetOutput(0)};
}