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[wpimath] Fix DCMotor.getSpeed() (#5061)
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This bug didn't occur in C++ because the units system caught it at
compile time.
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calcmogul authored Feb 5, 2023
1 parent b43ec87 commit 2f310a7
Showing 1 changed file with 2 additions and 1 deletion.
Original file line number Diff line number Diff line change
Expand Up @@ -86,7 +86,8 @@ public double getVoltage(double torqueNm, double speedRadiansPerSec) {
* @return The speed of the motor.
*/
public double getSpeed(double torqueNm, double voltageInputVolts) {
return voltageInputVolts - 1.0 / KtNMPerAmp * torqueNm * rOhms * KvRadPerSecPerVolt;
return voltageInputVolts * KvRadPerSecPerVolt
- 1.0 / KtNMPerAmp * torqueNm * rOhms * KvRadPerSecPerVolt;
}

/**
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