update rlis from sim examples (#2194)

Author: Starlight220

source/docs/software/basic-programming/robot-preferences.rst

@@ -13,15 +13,23 @@ Initializing Preferences
 
    .. group-tab:: Java
 
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/43975ac7cc1287dc83191a1bda3898c901fa6e31/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Constants.java
          :language: java
-         :lines: 35-42, 90-91, 98-105
+         :lines: 15-20
+
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/43975ac7cc1287dc83191a1bda3898c901fa6e31/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/subsystems/Arm.java
+         :language: java
+         :lines: 28-30, 71-72, 79-82
 
    .. group-tab:: C++
 
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/43975ac7cc1287dc83191a1bda3898c901fa6e31/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/Constants.h
+         :language: cpp
+         :lines: 30-34
+
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/43975ac7cc1287dc83191a1bda3898c901fa6e31/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/subsystems/Arm.cpp
          :language: cpp
-         :lines: 38-45, 85-86, 92-100
+         :lines: 12, 18-22
 
 Preferences are stored using a name, the key. It's helpful to store the key in a constant, like ``kArmPositionKey`` and ``kArmPKey`` in the code above to avoid typing it multiple times and avoid typos. We also declare variables, ``kArmKp`` and ``armPositionDeg`` to hold the data retrieved from preferences.
 
@@ -36,15 +44,15 @@ Reading Preferences
 
    .. group-tab:: Java
 
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/43975ac7cc1287dc83191a1bda3898c901fa6e31/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/subsystems/Arm.java
          :language: java
-         :lines: 126-134
+         :lines: 104-111
 
    .. group-tab:: C++
 
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/43975ac7cc1287dc83191a1bda3898c901fa6e31/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/subsystems/Arm.cpp
          :language: cpp
-         :lines: 122-130
+         :lines: 44-52
 
 Reading a preference is easy. The ``getDouble`` method takes two parameters, the key to read, and a default value to use in case the preference doesn't exist. There are similar methods for other data types like booleans, ints, and strings.
 
@@ -54,15 +62,21 @@ Depending on the data that is stored in preferences, you can use it when you rea
 
    .. group-tab:: Java
 
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/43975ac7cc1287dc83191a1bda3898c901fa6e31/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java
+         :language: java
+         :lines: 29-38
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/43975ac7cc1287dc83191a1bda3898c901fa6e31/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/subsystems/Arm.java
          :language: java
-         :lines: 136-147
+         :lines: 113-119
 
    .. group-tab:: C++
 
-      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/43975ac7cc1287dc83191a1bda3898c901fa6e31/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
+         :language: cpp
+         :lines: 15-24
+      .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/43975ac7cc1287dc83191a1bda3898c901fa6e31/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/subsystems/Arm.cpp
          :language: cpp
-         :lines: 132-143
+         :lines: 54-60
 
 Using Preferences in SmartDashboard
 -----------------------------------

source/docs/software/wpilib-tools/robot-simulation/physics-sim.rst

@@ -43,58 +43,72 @@ In the following example, we simulate an elevator given the mass of the moving c
 
    .. group-tab:: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/43975ac7cc1287dc83191a1bda3898c901fa6e31/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java
          :language: java
-         :lines: 53-64
+         :lines: 47-58
          :linenos:
-         :lineno-start: 53
+         :lineno-start: 47
 
    .. group-tab:: C++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/43975ac7cc1287dc83191a1bda3898c901fa6e31/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/subsystems/Elevator.h
          :language: cpp
-         :lines: 61-70
+         :lines: 51-60
          :linenos:
-         :lineno-start: 61
+         :lineno-start: 51
 
 Next, :code:`teleopPeriodic`/:code:`TeleopPeriodic` (Java/C++) uses a simple PID control loop to drive our elevator to a setpoint 30 inches off the ground.
 
 .. tabs::
 
    .. group-tab:: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/43975ac7cc1287dc83191a1bda3898c901fa6e31/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java
          :language: java
-         :lines: 103-113
+         :lines: 31-40
          :linenos:
-         :lineno-start: 103
+         :lineno-start: 31
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/43975ac7cc1287dc83191a1bda3898c901fa6e31/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java
+         :language: java
+         :lines: 98-105
+         :linenos:
+         :lineno-start: 98
 
    .. group-tab:: C++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/43975ac7cc1287dc83191a1bda3898c901fa6e31/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp
          :language: cpp
-         :lines: 100-108
+         :lines: 20-28
          :linenos:
-         :lineno-start: 100
+         :lineno-start: 20
+
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/43975ac7cc1287dc83191a1bda3898c901fa6e31/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/subsystems/Elevator.cpp
+         :language: cpp
+         :lines: 42-50
+         :linenos:
+         :lineno-start: 42
 
 Next, :code:`simulationPeriodic`/:code:`SimulationPeriodic` (Java/C++) uses the voltage applied to the motor to update the simulated position of the elevator. We use :code:`SimulationPeriodic` because it runs periodically only for simulated robots. This means that our simulation code will not be run on a real robot.
 
+.. note:: Classes inheriting from command-based's ``Subsystem`` can override the inherited ``simulationPeriodic()`` method. Other classes will need their simulation update methods called from ``Robot``'s ``simulationPeriodic``.
+
 Finally, the simulated encoder's distance reading is set using the simulated elevator's position, and the robot's battery voltage is set using the estimated current drawn by the elevator.
 
 .. tabs::
 
    .. group-tab:: Java
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/43975ac7cc1287dc83191a1bda3898c901fa6e31/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java
          :language: java
-         :lines: 84-101
+         :lines: 78-91
          :linenos:
-         :lineno-start: 84
+         :lineno-start: 78
 
    .. group-tab:: C++
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.2.1/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/43975ac7cc1287dc83191a1bda3898c901fa6e31/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/subsystems/Elevator.cpp
          :language: cpp
-         :lines: 91-110
+         :lines: 20-35
          :linenos:
-         :lineno-start: 91
+         :lineno-start: 20