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[wpimath] Fix dt type in C++ tests (#8179)

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The UKF test was calling `.value()` on an implicit
`units::millisecond_t` type assuming it was `units::second_t`.

I normalized the rest of the dt declarations while I was at it.
This commit is contained in:
Tyler Veness
2025-08-16 22:51:13 -07:00
committed by GitHub
parent 46a3318324
commit 0d9e850e22
11 changed files with 32 additions and 32 deletions
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6
wpimath/src/test/native/cpp/controller/DifferentialDriveAccelerationLimiterTest.cpp
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@@ -12,7 +12,7 @@ namespace frc {
TEST(DifferentialDriveAccelerationLimiterTest, LowLimits) {
constexpr auto trackwidth = 0.9_m;
constexpr auto dt = 5_ms;
constexpr units::second_t dt = 5_ms;
constexpr auto maxA = 2_mps_sq;
constexpr auto maxAlpha = 2_rad_per_s_sq;
@@ -105,7 +105,7 @@ TEST(DifferentialDriveAccelerationLimiterTest, LowLimits) {
TEST(DifferentialDriveAccelerationLimiterTest, HighLimits) {
constexpr auto trackwidth = 0.9_m;
constexpr auto dt = 5_ms;
constexpr units::second_t dt = 5_ms;
using Kv_t = decltype(1_V / 1_mps);
using Ka_t = decltype(1_V / 1_mps_sq);
@@ -173,7 +173,7 @@ TEST(DifferentialDriveAccelerationLimiterTest, HighLimits) {
TEST(DifferentialDriveAccelerationLimiterTest, SeparateMinMaxLowLimits) {
constexpr auto trackwidth = 0.9_m;
constexpr auto dt = 5_ms;
constexpr units::second_t dt = 5_ms;
constexpr auto minA = -1_mps_sq;
constexpr auto maxA = 2_mps_sq;
constexpr auto maxAlpha = 2_rad_per_s_sq;