[wpimath] Make more LinearSystemId functions not throw if Kv = 0 (#6465)

wpilibsuite · Mar 25, 2024 · 85ea5f8 · 85ea5f8
1 parent c32e7db
commit 85ea5f8
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java b/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
@@ -262,7 +262,7 @@ public static LinearSystem<N2, N1, N1> createSingleJointedArmSystem(
    * @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
    */
   public static LinearSystem<N1, N1, N1> identifyVelocitySystem(double kV, double kA) {
-    if (kV <= 0.0) {
+    if (kV < 0.0) {
       throw new IllegalArgumentException("Kv must be greater than or equal to zero.");
     }
     if (kA <= 0.0) {
@@ -295,7 +295,7 @@ public static LinearSystem<N1, N1, N1> identifyVelocitySystem(double kV, double
    * @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
    */
   public static LinearSystem<N2, N1, N1> identifyPositionSystem(double kV, double kA) {
-    if (kV <= 0.0) {
+    if (kV < 0.0) {
       throw new IllegalArgumentException("Kv must be greater than or equal to zero.");
     }
     if (kA <= 0.0) {