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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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9
wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
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@@ -25,8 +25,7 @@ ElevatorSim::ElevatorSim(const LinearSystem<2, 1, 1>& plant,
m_maxHeight(maxHeight),
m_gearing(gearing),
m_simulateGravity(simulateGravity) {
SetState(
frc::Vectord<2>{std::clamp(startingHeight, minHeight, maxHeight), 0.0});
SetState(startingHeight, 0_mps);
}
ElevatorSim::ElevatorSim(const DCMotor& gearbox, double gearing,
@@ -40,6 +39,12 @@ ElevatorSim::ElevatorSim(const DCMotor& gearbox, double gearing,
gearbox, gearing, drumRadius, minHeight, maxHeight,
simulateGravity, startingHeight, measurementStdDevs) {}
void ElevatorSim::SetState(units::meter_t position,
units::meters_per_second_t velocity) {
SetState(
Vectord<2>{std::clamp(position, m_minHeight, m_maxHeight), velocity});
}
bool ElevatorSim::WouldHitLowerLimit(units::meter_t elevatorHeight) const {
return elevatorHeight <= m_minHeight;
}