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[wpilib] Clean up simulation physics API (#2739)

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Some vestigial functions were never removed, and C++ single-jointed arm
sim was missing a flag for disabling gravity simulation. This is useful
for mechanisms like turrets.

Fixes #2738.
This commit is contained in:
Tyler Veness
2020-09-27 00:13:59 -07:00
committed by GitHub
parent 17d3d2f754
commit fc991cb59c
5 changed files with 43 additions and 30 deletions
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3
wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
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@@ -55,7 +55,8 @@ class Robot : public frc::TimedRobot {
// with a standard deviation of 0.5 degrees.
frc::sim::SingleJointedArmSim m_armSim{
m_armGearbox, 100.0, 5_kg, 30_in,
-180_deg, 0_deg, true, {(0.5_deg).to<double>()}};
-180_deg, 0_deg, true, {(0.5_deg).to<double>()},
true};
frc::sim::EncoderSim m_encoderSim{m_encoder};
public: