From d92ef25c0d56d9b39500eaa4f927c5eee9f3fee8 Mon Sep 17 00:00:00 2001
From: Dalton Smith <105223895+daltzctr@users.noreply.github.com>
Date: Fri, 11 Oct 2024 11:43:27 -0400
Subject: [PATCH 1/3] Add unit overloads for DCMotor set/get input voltage

---
 .../first/wpilibj/simulation/DCMotorSim.java  | 25 +++++++++++++++++++
 1 file changed, 25 insertions(+)

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
index 4440a2d7787..02a99f90e84 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java
@@ -7,6 +7,7 @@
 import static edu.wpi.first.units.Units.Radians;
 import static edu.wpi.first.units.Units.RadiansPerSecond;
 import static edu.wpi.first.units.Units.RadiansPerSecondPerSecond;
+import static edu.wpi.first.units.Units.Volts;
 
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.numbers.N1;
@@ -20,6 +21,7 @@
 import edu.wpi.first.units.measure.MutAngle;
 import edu.wpi.first.units.measure.MutAngularAcceleration;
 import edu.wpi.first.units.measure.MutAngularVelocity;
+import edu.wpi.first.units.measure.Voltage;
 import edu.wpi.first.wpilibj.RobotController;
 
 /** Represents a simulated DC motor mechanism. */
@@ -43,6 +45,9 @@ public class DCMotorSim extends LinearSystemSim<N2, N1, N2> {
   private final MutAngularAcceleration m_angularAcceleration =
       RadiansPerSecondPerSecond.mutable(0.0);
 
+  // Input voltage of the system
+  private final MutVoltage m_voltage = Volts.mutable(0);
+
   /**
    * Creates a simulated DC motor mechanism.
    *
@@ -243,6 +248,16 @@ public double getInputVoltage() {
     return getInput(0);
   }
 
+  /**
+   * Gets the input voltage for the DC motor.
+   *
+   * @return The DC motor's input voltage.
+   */
+  public Voltage getInputVoltageVolts() {
+    m_voltage.mut_setMagnitude(getInput(0));
+    return m_voltage;
+  }
+  
   /**
    * Sets the input voltage for the DC motor.
    *
@@ -252,4 +267,14 @@ public void setInputVoltage(double volts) {
     setInput(volts);
     clampInput(RobotController.getBatteryVoltage());
   }
+
+  /**
+   * Sets the input voltage for the DC motor.
+   *
+   * @param volts The input voltage.
+   */
+  public void setInputVoltage(Voltage volts) {
+    setInput(volts.in(Volts));
+    clampInput(RobotController.getBatteryVoltage());
+  }
 }

From 2c4ed8acc8b243d90afffe657fd4cacfaa2bfa47 Mon Sep 17 00:00:00 2001
From: Dalton Smith <105223895+daltzctr@users.noreply.github.com>
Date: Fri, 11 Oct 2024 12:00:37 -0400
Subject: [PATCH 2/3] Address review comments

---
 .../java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java    | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

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
index 02a99f90e84..00521a552b3 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java
@@ -254,7 +254,7 @@ public double getInputVoltage() {
    * @return The DC motor's input voltage.
    */
   public Voltage getInputVoltageVolts() {
-    m_voltage.mut_setMagnitude(getInput(0));
+    m_voltage.mut_setMagnitude(getInputVoltage());
     return m_voltage;
   }
   
@@ -274,7 +274,6 @@ public void setInputVoltage(double volts) {
    * @param volts The input voltage.
    */
   public void setInputVoltage(Voltage volts) {
-    setInput(volts.in(Volts));
-    clampInput(RobotController.getBatteryVoltage());
+    setInputVoltage(volts.in(Volts));
   }
 }

From aed2601dc34adb8f3c23da42079c20955f1991b5 Mon Sep 17 00:00:00 2001
From: Dalton Smith <105223895+daltzctr@users.noreply.github.com>
Date: Fri, 11 Oct 2024 12:57:23 -0400
Subject: [PATCH 3/3] Rename getter function

---
 .../main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java  | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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
index 00521a552b3..53b19271751 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java
@@ -253,7 +253,7 @@ public double getInputVoltage() {
    *
    * @return The DC motor's input voltage.
    */
-  public Voltage getInputVoltageVolts() {
+  public Voltage getInputVoltageMeasure() {
     m_voltage.mut_setMagnitude(getInputVoltage());
     return m_voltage;
   }