Merge pull request #2212 from ven-k/vkb/msl-2-updates

Update the `Torque` and `Mass` components wrt to MSL-2.0

Author: ChrisRackauckas

src/inputoutput.jl

@@ -377,7 +377,7 @@ c = 10   # Damping coefficient
 @named inertia2 = Inertia(; J = m2)
 @named spring = Spring(; c = k)
 @named damper = Damper(; d = c)
-@named torque = Torque()
+@named torque = Torque(; use_support = false)
 
 eqs = [connect(torque.flange, inertia1.flange_a)
        connect(inertia1.flange_b, spring.flange_a, damper.flange_a)

test/input_output_handling.jl

@@ -126,7 +126,7 @@ t = ModelingToolkitStandardLibrary.Mechanical.Rotational.t
 @named inertia2 = Inertia(; J = 1)
 @named spring = Spring(; c = 10)
 @named damper = Damper(; d = 3)
-@named torque = Torque()
+@named torque = Torque(; use_support = false)
 @variables y(t) = 0
 eqs = [connect(torque.flange, inertia1.flange_a)
     connect(inertia1.flange_b, spring.flange_a, damper.flange_a)
@@ -264,7 +264,7 @@ c = 10   # Damping coefficient
 @named inertia2 = Rotational.Inertia(; J = m2)
 @named spring = Rotational.Spring(; c = k)
 @named damper = Rotational.Damper(; d = c)
-@named torque = Rotational.Torque()
+@named torque = Rotational.Torque(; use_support = false)
 
 function SystemModel(u = nothing; name = :model)
     eqs = [connect(torque.flange, inertia1.flange_a)

test/linearize.jl

@@ -197,7 +197,7 @@ if VERSION >= v"1.8"
     D = Differential(t)
 
     @named link1 = Link(; m = 0.2, l = 10, I = 1, g = -9.807)
-    @named cart = Translational.Mass(; m = 1, s_0 = 0)
+    @named cart = Translational.Mass(; m = 1, s = 0)
     @named fixed = Fixed()
     @named force = Force()