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[wpilib] Add physics simulation support with state-space (#2615)

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This includes physics simulation support for arms/elevator models, as well as differential drivetrains.

Swerve might be added at a later date.

Co-authored-by: Claudius Tewari <cttewari@gmail.com>
Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Matt
2020-09-20 09:39:52 -07:00
committed by GitHub
parent 0503225928
commit b61f08d3fa
43 changed files with 3787 additions and 31 deletions
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wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
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@@ -187,8 +187,8 @@ class LinearSystemId {
* @param J Moment of inertia.
*/
static LinearSystem<2, 2, 2> DrivetrainVelocitySystem(
DCMotor motor, units::kilogram_t m, units::meter_t r, units::meter_t rb,
units::kilogram_square_meter_t J, double G) {
const DCMotor& motor, units::kilogram_t m, units::meter_t r,
units::meter_t rb, units::kilogram_square_meter_t J, double G) {
auto C1 = -std::pow(G, 2) * motor.Kt /
(motor.Kv * motor.R * units::math::pow<2>(r));
auto C2 = G * motor.Kt / (motor.R * r);