This will require a lot of reading rather poorly written documentation, so good luck.
Use wpilib's Single Jointed Arm Sim to create a simulation implementation of ArmIO. You should only need to set up the simulation using the constructor, call the setInputVoltage method when the voltage is set, and call the update method during the updateInputs call of ArmIOSim, similar to in DrivetrainIOSim.
The center of mass of the Arm is 0.35 m away from the pivot point, and the mass is [waiting on design].
SomewhatMay
commented
7 months ago
This will require a lot of reading rather poorly written documentation, so good luck.
Use wpilib's Single Jointed Arm Sim to create a simulation implementation of ArmIO. You should only need to set up the simulation using the constructor, call the
setInputVoltagemethod when the voltage is set, and call theupdatemethod during theupdateInputscall ofArmIOSim, similar to inDrivetrainIOSim.The center of mass of the Arm is 0.35 m away from the pivot point, and the mass is [waiting on design].