slight name change to getCurrent methods in Gearbox

wpilibsuite · Nov 26, 2024 · 0d048de · 0d048de
1 parent 844135e
commit 0d048de
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Showing 5 changed files with 7 additions and 7 deletions.
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java
@@ -204,7 +204,7 @@ public double getCurrentDrawAmps() {
     double kV = -m_plant.getA().get(1, 1) * kA;
     double motorVelocityRadPerSec = m_x.get(1, 0) * kV * m_gearbox.dcMotor.kv.baseUnitMagnitude();
     var appliedVoltage = m_u.get(0, 0);
-    return m_gearbox.getCurrentAmps(
+    return m_gearbox.getNetCurrentAmps(
             m_gearbox.getTorqueNewtonMeters(motorVelocityRadPerSec, appliedVoltage))
         * Math.signum(appliedVoltage);
   }

diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSim.java
@@ -146,7 +146,7 @@ public double getTorqueNewtonMeters() {
    * @return The flywheel's net current draw.
    */
   public double getCurrentDrawAmps() {
-    return m_gearbox.getCurrentAmps(getTorqueNewtonMeters()) * Math.signum(m_u.get(0, 0));
+    return m_gearbox.getNetCurrentAmps(getTorqueNewtonMeters()) * Math.signum(m_u.get(0, 0));
   }
 
   /**

diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/GearboxSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/GearboxSim.java
@@ -198,7 +198,7 @@ public double getTorqueNewtonMeters() {
    * @return The Gearbox's net current draw.
    */
   public double getCurrentDrawAmps() {
-    return m_gearbox.getCurrentAmps(getTorqueNewtonMeters()) * Math.signum(m_u.get(0, 0));
+    return m_gearbox.getNetCurrentAmps(getTorqueNewtonMeters()) * Math.signum(m_u.get(0, 0));
   }
 
   /**

diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java
@@ -177,7 +177,7 @@ public double getCurrentDrawAmps() {
     // Reductions are greater than 1, so a reduction of 10:1 would mean the motor is
     // spinning 10x faster than the output
     var motorVelocity = m_x.get(1, 0) * m_gearbox.getGearboxReduction();
-    return m_gearbox.getCurrentAmps(
+    return m_gearbox.getNetCurrentAmps(
         m_gearbox.getTorqueNewtonMeters(motorVelocity, m_u.get(0, 0)) * Math.signum(m_u.get(0, 0)));
   }
 

diff --git a/wpimath/src/main/java/edu/wpi/first/math/system/plant/Gearbox.java b/wpimath/src/main/java/edu/wpi/first/math/system/plant/Gearbox.java
@@ -194,7 +194,7 @@ public Torque getTorque(AngularVelocity angularVelocity, Voltage voltageInput) {
    * @param torqueNewtonMeters The torque produced by the gearbox.
    * @return The net current drawn by the all of the motors.
    */
-  public double getCurrentAmps(double torqueNewtonMeters) {
+  public double getNetCurrentAmps(double torqueNewtonMeters) {
     return numMotors * dcMotor.getCurrentAmps(torqueNewtonMeters / numMotors / gearboxReduction);
   }
 
@@ -204,7 +204,7 @@ public double getCurrentAmps(double torqueNewtonMeters) {
    * @param torque The torque produced by the gearbox.
    * @return The net current drawn by the all of the motors.
    */
-  public Current getCurrent(Torque torque) {
-    return current.mut_setBaseUnitMagnitude(getCurrentAmps(torque.baseUnitMagnitude()));
+  public Current getNetCurrent(Torque torque) {
+    return current.mut_setBaseUnitMagnitude(getNetCurrentAmps(torque.baseUnitMagnitude()));
   }
 }