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This commit is contained in:
PJ Reiniger
2025-11-07 19:57:21 -05:00
committed by Peter Johnson
parent c89910b7c6
commit c48b722dac
650 changed files with 1529 additions and 1545 deletions
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4
wpilibj/src/main/java/org/wpilib/simulation/ADXL345Sim.java
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@@ -4,9 +4,9 @@
package org.wpilib.simulation;
import org.wpilib.hardware.hal.SimDouble;
import org.wpilib.hardware.accelerometer.ADXL345_I2C;
import java.util.Objects;
import org.wpilib.hardware.accelerometer.ADXL345_I2C;
import org.wpilib.hardware.hal.SimDouble;
/** Class to control a simulated ADXL345. */
public class ADXL345Sim {

2
wpilibj/src/main/java/org/wpilib/simulation/AnalogInputSim.java
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@@ -4,9 +4,9 @@
package org.wpilib.simulation;
import org.wpilib.hardware.discrete.AnalogInput;
import org.wpilib.hardware.hal.simulation.AnalogInDataJNI;
import org.wpilib.hardware.hal.simulation.NotifyCallback;
import org.wpilib.hardware.discrete.AnalogInput;
/** Class to control a simulated analog input. */
public class AnalogInputSim {

4
wpilibj/src/main/java/org/wpilib/simulation/BatterySim.java
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@@ -33,8 +33,8 @@ public final class BatterySim {
/**
* Calculate the loaded battery voltage. Use this with {@link RoboRioSim#setVInVoltage(double)} to
* set the simulated battery voltage, which can then be retrieved with the {@link
* org.wpilib.system.RobotController#getBatteryVoltage()} method. This function assumes a
* nominal voltage of 12v and a resistance of 20 milliohms (0.020 ohms)
* org.wpilib.system.RobotController#getBatteryVoltage()} method. This function assumes a nominal
* voltage of 12v and a resistance of 20 milliohms (0.020 ohms)
*
* @param currents The currents drawn from the battery.
* @return The battery's voltage under load.

7
wpilibj/src/main/java/org/wpilib/simulation/DCMotorSim.java
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@@ -27,10 +27,9 @@ public class DCMotorSim extends LinearSystemSim<N2, N1, N2> {
*
* @param plant The linear system representing the DC motor. This system can be created with
* {@link org.wpilib.math.system.plant.LinearSystemId#createDCMotorSystem(DCMotor, double,
* double)} or {@link
* org.wpilib.math.system.plant.LinearSystemId#createDCMotorSystem(double, double)}. If
* {@link org.wpilib.math.system.plant.LinearSystemId#createDCMotorSystem(double, double)}
* is used, the distance unit must be radians.
* double)} or {@link org.wpilib.math.system.plant.LinearSystemId#createDCMotorSystem(double,
* double)}. If {@link org.wpilib.math.system.plant.LinearSystemId#createDCMotorSystem(double,
* double)} is used, the distance unit must be radians.
* @param gearbox The type of and number of motors in the DC motor gearbox.
* @param measurementStdDevs The standard deviations of the measurements. Can be omitted if no
* noise is desired. If present must have 2 elements. The first element is for position. The

4
wpilibj/src/main/java/org/wpilib/simulation/DIOSim.java
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@@ -4,10 +4,10 @@
package org.wpilib.simulation;
import org.wpilib.hardware.hal.simulation.DIODataJNI;
import org.wpilib.hardware.hal.simulation.NotifyCallback;
import org.wpilib.hardware.discrete.DigitalInput;
import org.wpilib.hardware.discrete.DigitalOutput;
import org.wpilib.hardware.hal.simulation.DIODataJNI;
import org.wpilib.hardware.hal.simulation.NotifyCallback;
/** Class to control a simulated digital input or output. */
public class DIOSim {

16
wpilibj/src/main/java/org/wpilib/simulation/DifferentialDrivetrainSim.java
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@@ -4,12 +4,10 @@
package org.wpilib.simulation;
import org.wpilib.math.linalg.Matrix;
import org.wpilib.math.util.Nat;
import org.wpilib.math.util.StateSpaceUtil;
import org.wpilib.math.linalg.VecBuilder;
import org.wpilib.math.geometry.Pose2d;
import org.wpilib.math.geometry.Rotation2d;
import org.wpilib.math.linalg.Matrix;
import org.wpilib.math.linalg.VecBuilder;
import org.wpilib.math.numbers.N1;
import org.wpilib.math.numbers.N2;
import org.wpilib.math.numbers.N7;
@@ -17,6 +15,8 @@ import org.wpilib.math.system.LinearSystem;
import org.wpilib.math.system.NumericalIntegration;
import org.wpilib.math.system.plant.DCMotor;
import org.wpilib.math.system.plant.LinearSystemId;
import org.wpilib.math.util.Nat;
import org.wpilib.math.util.StateSpaceUtil;
import org.wpilib.math.util.Units;
import org.wpilib.system.RobotController;
@@ -24,8 +24,8 @@ import org.wpilib.system.RobotController;
* This class simulates the state of the drivetrain. In simulationPeriodic, users should first set
* inputs from motors with {@link #setInputs(double, double)}, call {@link #update(double)} to
* update the simulation, and set estimated encoder and gyro positions, as well as estimated
* odometry pose. Teams can use {@link org.wpilib.smartdashboard.Field2d} to visualize
* their robot on the Sim GUI's field.
* odometry pose. Teams can use {@link org.wpilib.smartdashboard.Field2d} to visualize their robot
* on the Sim GUI's field.
*
* <p>Our state-space system is:
*
@@ -90,8 +90,8 @@ public class DifferentialDrivetrainSim {
*
* @param plant The {@link LinearSystem} representing the robot's drivetrain. This system can be
* created with {@link
* org.wpilib.math.system.plant.LinearSystemId#createDrivetrainVelocitySystem(DCMotor,
* double, double, double, double, double)} or {@link
* org.wpilib.math.system.plant.LinearSystemId#createDrivetrainVelocitySystem(DCMotor, double,
* double, double, double, double)} or {@link
* org.wpilib.math.system.plant.LinearSystemId#identifyDrivetrainSystem(double, double,
* double, double)}.
* @param driveMotor A {@link DCMotor} representing the drivetrain.

4
wpilibj/src/main/java/org/wpilib/simulation/DigitalPWMSim.java
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@@ -4,10 +4,10 @@
package org.wpilib.simulation;
import java.util.NoSuchElementException;
import org.wpilib.hardware.discrete.DigitalOutput;
import org.wpilib.hardware.hal.simulation.DigitalPWMDataJNI;
import org.wpilib.hardware.hal.simulation.NotifyCallback;
import org.wpilib.hardware.discrete.DigitalOutput;
import java.util.NoSuchElementException;
/**
* Class to control a simulated digital PWM output.

2
wpilibj/src/main/java/org/wpilib/simulation/DriverStationSim.java
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@@ -4,12 +4,12 @@
package org.wpilib.simulation;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.hardware.hal.AllianceStationID;
import org.wpilib.hardware.hal.DriverStationJNI;
import org.wpilib.hardware.hal.simulation.DriverStationDataJNI;
import org.wpilib.hardware.hal.simulation.NotifyCallback;
import org.wpilib.util.WPIUtilJNI;
import org.wpilib.driverstation.DriverStation;
/** Class to control a simulated driver station. */
public final class DriverStationSim {

2
wpilibj/src/main/java/org/wpilib/simulation/EncoderSim.java
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@@ -4,10 +4,10 @@
package org.wpilib.simulation;
import java.util.NoSuchElementException;
import org.wpilib.hardware.hal.simulation.EncoderDataJNI;
import org.wpilib.hardware.hal.simulation.NotifyCallback;
import org.wpilib.hardware.rotation.Encoder;
import java.util.NoSuchElementException;
/** Class to control a simulated encoder. */
public class EncoderSim {

10
wpilibj/src/main/java/org/wpilib/simulation/LinearSystemSim.java
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@@ -4,13 +4,13 @@
package org.wpilib.simulation;
import org.wpilib.math.linalg.Matrix;
import org.wpilib.math.util.Num;
import org.wpilib.math.util.StateSpaceUtil;
import org.wpilib.math.numbers.N1;
import org.wpilib.math.system.LinearSystem;
import org.ejml.MatrixDimensionException;
import org.ejml.simple.SimpleMatrix;
import org.wpilib.math.linalg.Matrix;
import org.wpilib.math.numbers.N1;
import org.wpilib.math.system.LinearSystem;
import org.wpilib.math.util.Num;
import org.wpilib.math.util.StateSpaceUtil;
/**
* This class helps simulate linear systems. To use this class, do the following in the {@link

2
wpilibj/src/main/java/org/wpilib/simulation/PWMSim.java
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@@ -4,9 +4,9 @@
package org.wpilib.simulation;
import org.wpilib.hardware.discrete.PWM;
import org.wpilib.hardware.hal.simulation.NotifyCallback;
import org.wpilib.hardware.hal.simulation.PWMDataJNI;
import org.wpilib.hardware.discrete.PWM;
/** Class to control a simulated PWM output. */
public class PWMSim {

3
wpilibj/src/main/java/org/wpilib/simulation/SimDeviceSim.java
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@@ -235,7 +235,8 @@ public class SimDeviceSim {
}
/**
* Register a callback to be run every time a new {@link org.wpilib.hardware.hal.SimDevice} is created.
* Register a callback to be run every time a new {@link org.wpilib.hardware.hal.SimDevice} is
* created.
*
* @param prefix the prefix to filter sim devices
* @param callback the callback

4
wpilibj/src/main/java/org/wpilib/simulation/SingleJointedArmSim.java
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@@ -38,8 +38,8 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N2> {
* Creates a simulated arm mechanism.
*
* @param plant The linear system that represents the arm. This system can be created with {@link
* org.wpilib.math.system.plant.LinearSystemId#createSingleJointedArmSystem(DCMotor,
* double, double)}.
* org.wpilib.math.system.plant.LinearSystemId#createSingleJointedArmSystem(DCMotor, double,
* double)}.
* @param gearbox The type of and number of motors in the arm gearbox.
* @param gearing The gearing of the arm (numbers greater than 1 represent reductions).
* @param armLength The length of the arm in meters.