Merge branch 'main' into 2027

wpilibc/src/main/native/cpp/Joystick.cpp

@@ -5,12 +5,8 @@
 #include "frc/Joystick.h"
 
 #include <cmath>
-#include <numbers>
 
 #include <hal/FRCUsageReporting.h>
-#include <units/dimensionless.h>
-#include <units/math.h>
-#include <wpi/deprecated.h>
 
 #include "frc/event/BooleanEvent.h"
 
@@ -123,6 +119,5 @@ double Joystick::GetMagnitude() const {
 }
 
 units::radian_t Joystick::GetDirection() const {
-  return units::math::atan2(units::dimensionless::scalar_t{GetX()},
-                            units::dimensionless::scalar_t{-GetY()});
+  return units::radian_t{std::atan2(GetX(), -GetY())};
 }

wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp

@@ -42,6 +42,15 @@ void DCMotorSim::SetState(units::radian_t angularPosition,
   SetState(Vectord<2>{angularPosition, angularVelocity});
 }
 
+void DCMotorSim::SetAngle(units::radian_t angularPosition) {
+  SetState(angularPosition, GetAngularVelocity());
+}
+
+void DCMotorSim::SetAngularVelocity(
+    units::radians_per_second_t angularVelocity) {
+  SetState(GetAngularPosition(), angularVelocity);
+}
+
 units::radian_t DCMotorSim::GetAngularPosition() const {
   return units::radian_t{GetOutput(0)};
 }
@@ -76,3 +85,15 @@ void DCMotorSim::SetInputVoltage(units::volt_t voltage) {
   SetInput(Vectord<1>{voltage.value()});
   ClampInput(frc::RobotController::GetBatteryVoltage().value());
 }
+
+const DCMotor& DCMotorSim::GetGearbox() const {
+  return m_gearbox;
+}
+
+double DCMotorSim::GetGearing() const {
+  return m_gearing;
+}
+
+units::kilogram_square_meter_t DCMotorSim::GetJ() const {
+  return m_j;
+}