Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

7
wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
View File

@@ -28,7 +28,7 @@ SingleJointedArmSim::SingleJointedArmSim(
m_gearbox(gearbox),
m_gearing(gearing),
m_simulateGravity(simulateGravity) {
SetState(frc::Vectord<2>{startingAngle, 0.0});
SetState(startingAngle, 0_rad_per_s);
}
SingleJointedArmSim::SingleJointedArmSim(
@@ -42,6 +42,11 @@ SingleJointedArmSim::SingleJointedArmSim(
gearbox, gearing, armLength, minAngle, maxAngle, simulateGravity,
startingAngle, measurementStdDevs) {}
void SingleJointedArmSim::SetState(units::radian_t angle,
units::radians_per_second_t velocity) {
SetState(Vectord<2>{std::clamp(angle, m_minAngle, m_maxAngle), velocity});
}
bool SingleJointedArmSim::WouldHitLowerLimit(units::radian_t armAngle) const {
return armAngle <= m_minAngle;
}