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[wpimath] Reorganize LinearSystem factories (#8468)

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This commit is contained in:
Tyler Veness
2026-01-12 19:09:35 -08:00
committed by GitHub
parent 89d0759ef2
commit 00fa8361dd
108 changed files with 1808 additions and 2138 deletions
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6
wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp
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@@ -9,9 +9,9 @@
#include "wpi/hardware/motor/PWMVictorSPX.hpp"
#include "wpi/hardware/rotation/Encoder.hpp"
#include "wpi/math/controller/PIDController.hpp"
#include "wpi/math/system/DCMotor.hpp"
#include "wpi/math/system/Models.hpp"
#include "wpi/math/system/NumericalIntegration.hpp"
#include "wpi/math/system/plant/DCMotor.hpp"
#include "wpi/math/system/plant/LinearSystemId.hpp"
#include "wpi/simulation/EncoderSim.hpp"
#include "wpi/system/RobotController.hpp"
#include "wpi/units/math.hpp"
@@ -92,7 +92,7 @@ TEST(ElevatorSimTest, Stability) {
}
wpi::math::LinearSystem<2, 1, 1> system =
wpi::math::LinearSystemId::ElevatorSystem(
wpi::math::Models::ElevatorFromPhysicalConstants(
wpi::math::DCMotor::Vex775Pro(4), 4_kg, 0.5_in, 100)
.Slice(0);
EXPECT_NEAR_UNITS(wpi::units::meter_t{system.CalculateX(