From 5e6f48584fcdf6797a33f0ad6185969edfc7f0a8 Mon Sep 17 00:00:00 2001
From: Nicholas Armstrong <narmstro@warren.k12.in.us>
Date: Sun, 31 Mar 2024 15:25:41 -0400
Subject: [PATCH] CPP updates

---
 wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp     | 4 ++--
 wpilibc/src/test/native/cpp/simulation/DCMotorSimTest.cpp | 2 ++
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp b/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp
index 4893909a43c..6612a7cc1f9 100644
--- a/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp
@@ -41,7 +41,7 @@ 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) {
@@ -49,5 +49,5 @@ void DCMotorSim::SetInputVoltage(units::volt_t voltage) {
 }
 
 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
index 75b8a4b560e..077dea6e96f 100644
--- 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}};