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[simulation] Document zero angle in SingleJointedArmSim #7756

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[simulation] Document zero angle in SingleJointedArmSim #7756

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[simulation] Document zero angle in SingleJointedArmSim
DeltaDizzy Jan 31, 2025
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18 changes: 12 additions & 6 deletions wpilibc/src/main/native/include/frc/simulation/SingleJointedArmSim.h
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Expand Up @@ -30,10 +30,13 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 2> {
* @param gearing The gear ratio of the arm (numbers greater than 1
* represent reductions).
* @param armLength The length of the arm.
* @param minAngle The minimum angle that the arm is capable of.
* @param maxAngle The maximum angle that the arm is capable of.
* @param minAngle The minimum angle that the arm is capable of,
* with 0 being horizontal.
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For consistency with the rest of the comments, the overflowed text should be aligned (e.g. see the doc for the gearing parameter).

* @param maxAngle The maximum angle that the arm is capable of,
* with 0 being horizontal.
* @param simulateGravity Whether gravity should be simulated or not.
* @param startingAngle The initial position of the arm.
* @param startingAngle The initial position of the arm, with 0 being
* horizontal.
* @param measurementStdDevs The standard deviations of the measurements.
*/
SingleJointedArmSim(const LinearSystem<2, 1, 2>& system,
Expand All @@ -52,10 +55,13 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 2> {
* @param moi The moment of inertia of the arm. This can be
* calculated from CAD software.
* @param armLength The length of the arm.
* @param minAngle The minimum angle that the arm is capable of.
* @param maxAngle The maximum angle that the arm is capable of.
* @param minAngle The minimum angle that the arm is capable of,
* with 0 being horizontal.
* @param maxAngle The maximum angle that the arm is capable of,
* with 0 being horizontal.
* @param simulateGravity Whether gravity should be simulated or not.
* @param startingAngle The initial position of the arm.
* @param startingAngle The initial position of the arm, with 0 being
* horizontal.
* @param measurementStdDevs The standard deviation of the measurement noise.
*/
SingleJointedArmSim(const DCMotor& gearbox, double gearing,
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18 changes: 12 additions & 6 deletions wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java
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Expand Up @@ -44,10 +44,13 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N2> {
* @param gearbox The type of and number of motors in the arm gearbox.
* @param gearing The gearing of the arm (numbers greater than 1 represent reductions).
* @param armLengthMeters The length of the arm.
* @param minAngleRads The minimum angle that the arm is capable of.
* @param maxAngleRads The maximum angle that the arm is capable of.
* @param minAngleRads The minimum angle that the arm is capable of, with 0 radians being
* horizontal.
* @param maxAngleRads The maximum angle that the arm is capable of, with 0 radians being
* horizontal.
* @param simulateGravity Whether gravity should be simulated or not.
* @param startingAngleRads The initial position of the Arm simulation in radians.
* @param startingAngleRads The initial position of the Arm simulation in radians, with 0 radians
* being horizontal.
* @param measurementStdDevs The standard deviations of the measurements. Can be omitted if no
* noise is desired. If present must have 1 element for position.
*/
Expand Down Expand Up @@ -80,10 +83,13 @@ public SingleJointedArmSim(
* @param gearing The gearing of the arm (numbers greater than 1 represent reductions).
* @param jKgMetersSquared The moment of inertia of the arm; can be calculated from CAD software.
* @param armLengthMeters The length of the arm.
* @param minAngleRads The minimum angle that the arm is capable of.
* @param maxAngleRads The maximum angle that the arm is capable of.
* @param minAngleRads The minimum angle that the arm is capable of, with 0 radians being
* horizontal.
* @param maxAngleRads The maximum angle that the arm is capable of, with 0 radians being
* horizontal.
* @param simulateGravity Whether gravity should be simulated or not.
* @param startingAngleRads The initial position of the Arm simulation in radians.
* @param startingAngleRads The initial position of the Arm simulation in radians, with 0 radians
* being horizontal.
* @param measurementStdDevs The standard deviations of the measurements. Can be omitted if no
* noise is desired. If present must have 1 element for position.
*/
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