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[wpilib] Clean up physics simulation class APIs (#2763)

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This commit is contained in:
Prateek Machiraju
2020-10-16 00:00:45 -04:00
committed by GitHub
parent 8f3e5794b3
commit 061432147d
19 changed files with 746 additions and 483 deletions
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10
wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp
View File

@@ -21,9 +21,9 @@
#include "gtest/gtest.h"
TEST(ElevatorSim, StateSpaceSim) {
frc::sim::ElevatorSim sim(frc::DCMotor::Vex775Pro(4), 8_kg, 13.67,
frc::sim::ElevatorSim sim(frc::DCMotor::Vex775Pro(4), 14.67, 8_kg,
units::meter_t(0.75 * 25.4 / 1000.0), 0_m, 3_m,
true, {0.01});
{0.01});
frc2::PIDController controller(10, 0.0, 0.0);
frc::PWMVictorSPX motor(0);
@@ -40,7 +40,7 @@ TEST(ElevatorSim, StateSpaceSim) {
sim.SetInput(u);
sim.Update(20_ms);
const auto& y = sim.Y();
const auto& y = sim.GetOutput();
encoderSim.SetDistance(y(0));
}
@@ -48,9 +48,9 @@ TEST(ElevatorSim, StateSpaceSim) {
}
TEST(ElevatorSim, MinMax) {
frc::sim::ElevatorSim sim(frc::DCMotor::Vex775Pro(4), 8_kg, 13.67,
frc::sim::ElevatorSim sim(frc::DCMotor::Vex775Pro(4), 14.67, 8_kg,
units::meter_t(0.75 * 25.4 / 1000.0), 0_m, 1_m,
true, {0.01});
{0.01});
for (size_t i = 0; i < 100; ++i) {
sim.SetInput(frc::MakeMatrix<1, 1>(0.0));
sim.Update(20_ms);

5
wpilibc/src/test/native/cpp/simulation/SingleJointedArmSimTest.cpp
View File

@@ -11,9 +11,8 @@
#include "gtest/gtest.h"
TEST(SingleJointedArmTest, Disabled) {
frc::sim::SingleJointedArmSim sim(frc::DCMotor::Vex775Pro(2), 100, 10_kg,
9.5_in, -180_deg, 0_deg, false, {0.0},
true);
frc::sim::SingleJointedArmSim sim(frc::DCMotor::Vex775Pro(2), 100, 3_kg_sq_m,
9.5_in, -180_deg, 0_deg, 10_lb, true);
sim.SetState(frc::MakeMatrix<2, 1>(0.0, 0.0));
for (size_t i = 0; i < 12 / 0.02; ++i) {