Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Fix units of RamseteController's b and zeta (#3757)

Browse Source 
Fixes #3755.
This commit is contained in:
Tyler Veness
2021-12-03 18:21:30 -08:00
committed by GitHub
parent 5da54888f8
commit 04957a6d30
6 changed files with 62 additions and 31 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
wpimath/src/test/native/cpp/controller/RamseteControllerTest.cpp
View File

@@ -16,7 +16,8 @@ static constexpr units::radian_t kAngularTolerance{2.0 * wpi::numbers::pi /
180.0};
TEST(RamseteControllerTest, ReachesReference) {
frc::RamseteController controller{2.0, 0.7};
frc::RamseteController controller{2.0 * 1_rad * 1_rad / (1_m * 1_m),
0.7 / 1_rad};
frc::Pose2d robotPose{2.7_m, 23_m, frc::Rotation2d{0_deg}};
auto waypoints = std::vector{frc::Pose2d{2.75_m, 22.521_m, 0_rad},