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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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4
wpilibc/src/main/native/cpp/simulation/FlywheelSim.cpp
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@@ -24,6 +24,10 @@ FlywheelSim::FlywheelSim(const DCMotor& gearbox, double gearing,
: FlywheelSim(LinearSystemId::FlywheelSystem(gearbox, moi, gearing),
gearbox, gearing, measurementStdDevs) {}
void FlywheelSim::SetState(units::radians_per_second_t velocity) {
LinearSystemSim::SetState(Vectord<1>{velocity.value()});
}
units::radians_per_second_t FlywheelSim::GetAngularVelocity() const {
return units::radians_per_second_t{GetOutput(0)};
}