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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
Download Patch File Download Diff File Expand all files Collapse all files

9
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java
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@@ -7,6 +7,8 @@
package edu.wpi.first.wpilibj.simulation;
import org.junit.jupiter.api.Test;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.RobotController;
@@ -14,7 +16,6 @@ import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.system.plant.DCMotor;
import edu.wpi.first.wpilibj.system.plant.LinearSystemId;
import edu.wpi.first.wpiutil.math.VecBuilder;
import org.junit.jupiter.api.Test;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
@@ -26,7 +27,7 @@ public class ElevatorSimTest {
var controller = new PIDController(10, 0, 0);
var sim = new ElevatorSim(DCMotor.getVex775Pro(4), 8.0, 0.75 * 25.4 / 1000.0, 14.67,
var sim = new ElevatorSim(DCMotor.getVex775Pro(4), 14.67, 8, 0.75 * 25.4 / 1000.0,
0.0, 3.0, VecBuilder.fill(0.01));
var motor = new PWMVictorSPX(0);
@@ -61,9 +62,9 @@ public class ElevatorSimTest {
0.75 * 25.4 / 1000.0,
14.67);
var sim = new ElevatorSim(plant, VecBuilder.fill(0.01),
var sim = new ElevatorSim(plant,
DCMotor.getVex775Pro(4),
14.67, 0.75 * 25.4 / 1000.0, 0.0, 1.0);
14.67, 0.75 * 25.4 / 1000.0, 0.0, 1.0, VecBuilder.fill(0.01));
for (int i = 0; i < 100; i++) {
sim.setInput(VecBuilder.fill(0));

9
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ArmSimTest.java → wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSimTest.java
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@@ -7,21 +7,22 @@
package edu.wpi.first.wpilibj.simulation;
import org.junit.jupiter.api.Test;
import edu.wpi.first.wpilibj.system.plant.DCMotor;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.wpiutil.math.VecBuilder;
import org.junit.jupiter.api.Test;
import static org.junit.jupiter.api.Assertions.assertEquals;
public class ArmSimTest {
public class SingleJointedArmSimTest {
SingleJointedArmSim m_sim = new SingleJointedArmSim(
DCMotor.getVex775Pro(2),
100,
10 / 2.2,
3.0,
Units.inchesToMeters(19.0 / 2.0),
-Math.PI,
0.0, 0.0);
0.0, 10.0 / 2.2, true);
@Test
public void testArmDisabled() {