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

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Mar 25, 2024
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[wpimath] Make more LinearSystemId functions not throw if Kv = 0 #6465

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4 changes: 2 additions & 2 deletions wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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) {
Expand Down Expand Up @@ -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) {
Expand Down
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