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[wpilib] Document zero angle in SingleJointedArmSim (NFC) (#7756)

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Fixes #7752

---------

Co-authored-by: sciencewhiz <sciencewhiz@users.noreply.github.com>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
DeltaDizzy
2026-02-21 17:36:36 -05:00
committed by GitHub
parent 9cd933fa14
commit d9eba4bb22
2 changed files with 24 additions and 12 deletions
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18
wpilibc/src/main/native/include/frc/simulation/SingleJointedArmSim.h
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@@ -30,10 +30,13 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 2> {
* @param gearing The gear ratio of the arm (numbers greater than 1
* represent reductions).
* @param armLength The length of the arm.
* @param minAngle The minimum angle that the arm is capable of.
* @param maxAngle The maximum angle that the arm is capable of.
* @param minAngle The minimum angle that the arm is capable of,
* with 0 being horizontal.
* @param maxAngle The maximum angle that the arm is capable of,
* with 0 being horizontal.
* @param simulateGravity Whether gravity should be simulated or not.
* @param startingAngle The initial position of the arm.
* @param startingAngle The initial position of the arm, with 0 being
* horizontal.
* @param measurementStdDevs The standard deviations of the measurements.
*/
SingleJointedArmSim(const LinearSystem<2, 1, 2>& system,
@@ -52,10 +55,13 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 2> {
* @param moi The moment of inertia of the arm. This can be
* calculated from CAD software.
* @param armLength The length of the arm.
* @param minAngle The minimum angle that the arm is capable of.
* @param maxAngle The maximum angle that the arm is capable of.
* @param minAngle The minimum angle that the arm is capable of,
* with 0 being horizontal.
* @param maxAngle The maximum angle that the arm is capable of,
* with 0 being horizontal.
* @param simulateGravity Whether gravity should be simulated or not.
* @param startingAngle The initial position of the arm.
* @param startingAngle The initial position of the arm, with 0 being
* horizontal.
* @param measurementStdDevs The standard deviation of the measurement noise.
*/
SingleJointedArmSim(const DCMotor& gearbox, double gearing,

18
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java
View File

@@ -44,10 +44,13 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N2> {
* @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 armLengthMeters The length of the arm.
* @param minAngleRads The minimum angle that the arm is capable of.
* @param maxAngleRads The maximum angle that the arm is capable of.
* @param minAngleRads The minimum angle that the arm is capable of, with 0 radians being
* horizontal.
* @param maxAngleRads The maximum angle that the arm is capable of, with 0 radians being
* horizontal.
* @param simulateGravity Whether gravity should be simulated or not.
* @param startingAngleRads The initial position of the Arm simulation in radians.
* @param startingAngleRads The initial position of the Arm simulation in radians, with 0 radians
* being horizontal.
* @param measurementStdDevs The standard deviations of the measurements. Can be omitted if no
* noise is desired. If present must have 1 element for position.
*/
@@ -80,10 +83,13 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N2> {
* @param gearing The gearing of the arm (numbers greater than 1 represent reductions).
* @param jKgMetersSquared The moment of inertia of the arm; can be calculated from CAD software.
* @param armLengthMeters The length of the arm.
* @param minAngleRads The minimum angle that the arm is capable of.
* @param maxAngleRads The maximum angle that the arm is capable of.
* @param minAngleRads The minimum angle that the arm is capable of, with 0 radians being
* horizontal.
* @param maxAngleRads The maximum angle that the arm is capable of, with 0 radians being
* horizontal.
* @param simulateGravity Whether gravity should be simulated or not.
* @param startingAngleRads The initial position of the Arm simulation in radians.
* @param startingAngleRads The initial position of the Arm simulation in radians, with 0 radians
* being horizontal.
* @param measurementStdDevs The standard deviations of the measurements. Can be omitted if no
* noise is desired. If present must have 1 element for position.
*/