Final Cleanup on CPP

narmstro2020 · Mar 31, 2024 · 636adc0 · 636adc0
1 parent 5e6f485
commit 636adc0
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Showing 3 changed files with 10 additions and 17 deletions.
diff --git a/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp b/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp
@@ -6,8 +6,6 @@
 
 #include <wpi/MathExtras.h>
 
-#include "frc/system/plant/LinearSystemId.h"
-
 using namespace frc;
 using namespace frc::sim;
 

diff --git a/wpilibc/src/test/native/cpp/simulation/DCMotorSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/DCMotorSimTest.cpp
@@ -12,13 +12,13 @@
 #include "frc/simulation/DCMotorSim.h"
 #include "frc/simulation/EncoderSim.h"
 #include "frc/simulation/RoboRioSim.h"
+#include "frc/system/plant/LinearSystemId.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}};
+  frc::LinearSystem<2, 1, 2> plant = frc::LinearSystemId::DCMotorSystem(gearbox, units::kilogram_square_meter_t{0.0005}, 1.0);
+  frc::sim::DCMotorSim sim{plant, gearbox, 1.0};
 
   frc::Encoder encoder{0, 1};
   frc::sim::EncoderSim encoderSim{encoder};
@@ -62,8 +62,8 @@ TEST(DCMotorSimTest, VoltageSteadyState) {
 
 TEST(DCMotorSimTest, PositionFeedbackControl) {
   frc::DCMotor gearbox = frc::DCMotor::NEO(1);
-  frc::sim::DCMotorSim sim{gearbox, 1.0,
-                           units::kilogram_square_meter_t{0.0005}};
+  frc::LinearSystem<2, 1, 2> plant = frc::LinearSystemId::DCMotorSystem(gearbox, units::kilogram_square_meter_t{0.0005}, 1.0);
+  frc::sim::DCMotorSim sim{plant, gearbox, 1.0};
 
   frc::PIDController controller{0.04, 0.0, 0.001};
 

diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java
@@ -25,15 +25,12 @@ public class DCMotorSim extends LinearSystemSim<N2, N1, N2> {
    *
    * @param plant The linear system representing the DC motor. This system can be created with
    *     {@link edu.wpi.first.math.system.plant.LinearSystemId#createDCMotorSystem(DCMotor, double,
-   *     double)} or 
-   *     {@link edu.wpi.first.math.system.plant.LinearSystemId#createDCMotorSystem(double, double)}.
+   *     double)} or {@link
+   *     edu.wpi.first.math.system.plant.LinearSystemId#createDCMotorSystem(double, double)}.
    * @param gearbox The type of and number of motors in the DC motor gearbox.
    * @param gearing The gearing of the DC motor (numbers greater than 1 represent reductions).
    */
-  public DCMotorSim(
-      LinearSystem<N2, N1, N2> plant, 
-      DCMotor gearbox, 
-      double gearing) {
+  public DCMotorSim(LinearSystem<N2, N1, N2> plant, DCMotor gearbox, double gearing) {
     super(plant);
     m_gearbox = gearbox;
     m_gearing = gearing;
@@ -43,9 +40,7 @@ public DCMotorSim(
    * Creates a simulated DC motor mechanism.
    *
    * @param plant The linear system representing the DC motor. This system can be created with
-   *     {@link edu.wpi.first.math.system.plant.LinearSystemId#createDCMotorSystem(DCMotor, double,
-   *     double)} or 
-   *     {@link edu.wpi.first.math.system.plant.LinearSystemId#createDCMotorSystem(double, double)}. 
+   *     {@link edu.wpi.first.math.system.plant.LinearSystemId#createDCMotorSystem()} methods.
    * @param gearbox The type of and number of motors in the DC motor gearbox.
    * @param gearing The gearing of the DC motor (numbers greater than 1 represent reductions).
    * @param measurementStdDevs The standard deviations of the measurements.
@@ -145,5 +140,5 @@ public void setInputVoltage(double volts) {
    */
   public double getInputVoltage() {
     return getInput(0);
-  }  
+  }
 }