Stop motor at hard limits in Pivot sim

When the Pivot mechanism hits its lower or upper hard limit the sim previously only snapped the encoder position, allowing the simulated motor to keep driving past the limit. This change stops the motor by zeroing the DC motor angular velocity and clearing the duty cycle in both the lower- and upper-limit branches, and adds comments explaining the intent to prevent further movement past hard limits.

Author: clrozeboom

yams/java/yams/mechanisms/positional/Pivot.java

@@ -377,13 +377,19 @@ public void simIterate()
       m_smc.getSimSupplier().get().starveUpdateSim();
       if (m_config.getLowerHardLimit().isPresent() && m_dcmotorSim.get().getAngularVelocityRadPerSec() < 0 &&
           m_smc.getMechanismPosition().lt(m_config.getLowerHardLimit().get()))
+          // Stop the motor from moving further in the direction of the hard limit
+          m_dcmotorSim.get().setAngularVelocity(0);
+          m_smc.setDutyCycle(0);
       {
         m_smc.setEncoderPosition(m_config.getLowerHardLimit().get());
       }
       if (m_config.getUpperHardLimit().isPresent() && m_dcmotorSim.get().getAngularVelocityRadPerSec() > 0 &&
           m_smc.getMechanismPosition().gt(m_config.getUpperHardLimit().get()))
       {
         m_smc.setEncoderPosition(m_config.getUpperHardLimit().get());
+        // Stop the motor from moving further in the direction of the hard limit
+        m_dcmotorSim.get().setAngularVelocity(0);
+        m_smc.setDutyCycle(0);
       }
       RoboRioSim.setVInVoltage(BatterySim.calculateDefaultBatteryLoadedVoltage(m_dcmotorSim.get()
                                                                                            .getCurrentDrawAmps()));