CPP updates

narmstro2020 · Mar 31, 2024 · 5e6f485 · 5e6f485
1 parent 04842b4
commit 5e6f485
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp b/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp
@@ -41,13 +41,13 @@ units::ampere_t DCMotorSim::GetCurrentDraw() const {
 }
 
 units::kilogram_square_meter_t DCMotorSim::GetMomentOfInertia() const {
-  return m_gearing * m_gearbox.Kt / (m_gearbox.R * m_plant.B(0,0));
+  return units::kilogram_square_meter_t{m_gearing * m_gearbox.Kt.value() / (m_gearbox.R.value() * m_plant.B(0,0))};
 }
 
 void DCMotorSim::SetInputVoltage(units::volt_t voltage) {
   SetInput(Vectord<1>{voltage.value()});
 }
 
 units::volt_t DCMotorSim::GetInputVoltage() const {
-  return GetInput(0);
+  return units::volt_t{GetInput(0)};
 }
diff --git a/wpilibc/src/test/native/cpp/simulation/DCMotorSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/DCMotorSimTest.cpp
@@ -13,8 +13,10 @@
 #include "frc/simulation/EncoderSim.h"
 #include "frc/simulation/RoboRioSim.h"
 
+
 TEST(DCMotorSimTest, VoltageSteadyState) {
   frc::DCMotor gearbox = frc::DCMotor::NEO(1);
+  frc::LinearSystemId.
   frc::sim::DCMotorSim sim{gearbox, 1.0,
                            units::kilogram_square_meter_t{0.0005}};