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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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10
wpilibj/src/test/java/org/wpilib/simulation/DifferentialDrivetrainSimTest.java
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@@ -19,9 +19,9 @@ import org.wpilib.math.linalg.VecBuilder;
import org.wpilib.math.linalg.Vector;
import org.wpilib.math.numbers.N1;
import org.wpilib.math.numbers.N7;
import org.wpilib.math.system.DCMotor;
import org.wpilib.math.system.Models;
import org.wpilib.math.system.NumericalIntegration;
import org.wpilib.math.system.plant.DCMotor;
import org.wpilib.math.system.plant.LinearSystemId;
import org.wpilib.math.trajectory.TrajectoryConfig;
import org.wpilib.math.trajectory.TrajectoryGenerator;
import org.wpilib.math.trajectory.constraint.DifferentialDriveKinematicsConstraint;
@@ -33,7 +33,7 @@ class DifferentialDrivetrainSimTest {
void testConvergence() {
var motor = DCMotor.getNEO(2);
var plant =
LinearSystemId.createDrivetrainVelocitySystem(
Models.differentialDriveFromPhysicalConstants(
motor, 50, Units.inchesToMeters(2), Units.inchesToMeters(12), 0.5, 1.0);
var kinematics = new DifferentialDriveKinematics(Units.inchesToMeters(24));
@@ -97,7 +97,7 @@ class DifferentialDrivetrainSimTest {
void testCurrent() {
var motor = DCMotor.getNEO(2);
var plant =
LinearSystemId.createDrivetrainVelocitySystem(
Models.differentialDriveFromPhysicalConstants(
motor, 50, Units.inchesToMeters(2), Units.inchesToMeters(12), 0.5, 1.0);
var kinematics = new DifferentialDriveKinematics(Units.inchesToMeters(24));
var sim =
@@ -127,7 +127,7 @@ class DifferentialDrivetrainSimTest {
void testModelStability() {
var motor = DCMotor.getNEO(2);
var plant =
LinearSystemId.createDrivetrainVelocitySystem(
Models.differentialDriveFromPhysicalConstants(
motor, 50, Units.inchesToMeters(2), Units.inchesToMeters(12), 2.0, 5.0);
var kinematics = new DifferentialDriveKinematics(Units.inchesToMeters(24));