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Merge branch 'main' into 2027

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This commit is contained in:
Peter Johnson
2025-09-20 11:19:40 -07:00
parent d59f1732bb ee3d55e848
commit 1ce2854a1e
99 changed files with 3296 additions and 2039 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;

4
wpimath/src/test/native/cpp/controller/DifferentialDriveFeedforwardTest.cpp
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@@ -20,7 +20,7 @@ TEST(DifferentialDriveFeedforwardTest, CalculateWithTrackwidth) {
constexpr auto kVAngular = 1_V / 1_rad_per_s;
constexpr auto kAAngular = 1_V / 1_rad_per_s_sq;
constexpr auto trackwidth = 1_m;
constexpr auto dt = 20_ms;
constexpr units::second_t dt = 20_ms;
frc::DifferentialDriveFeedforward differentialDriveFeedforward{
kVLinear, kALinear, kVAngular, kAAngular, trackwidth};
@@ -54,7 +54,7 @@ TEST(DifferentialDriveFeedforwardTest, CalculateWithoutTrackwidth) {
constexpr auto kALinear = 1_V / 1_mps_sq;
constexpr auto kVAngular = 1_V / 1_mps;
constexpr auto kAAngular = 1_V / 1_mps_sq;
constexpr auto dt = 20_ms;
constexpr units::second_t dt = 20_ms;
frc::DifferentialDriveFeedforward differentialDriveFeedforward{
kVLinear, kALinear, kVAngular, kAAngular};

4
wpimath/src/test/native/cpp/controller/ImplicitModelFollowerTest.cpp
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@@ -10,7 +10,7 @@
namespace frc {
TEST(ImplicitModelFollowerTest, SameModel) {
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);
@@ -54,7 +54,7 @@ TEST(ImplicitModelFollowerTest, SameModel) {
}
TEST(ImplicitModelFollowerTest, SlowerRefModel) {
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);

12
wpimath/src/test/native/cpp/controller/LinearQuadraticRegulatorTest.cpp
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@@ -31,10 +31,10 @@ TEST(LinearQuadraticRegulatorTest, ElevatorGains) {
return frc::LinearSystemId::ElevatorSystem(motors, m, r, G).Slice(0);
}();
Matrixd<1, 2> K =
LinearQuadraticRegulator<2, 1>{plant, {0.02, 0.4}, {12.0}, 5.05_ms}.K();
LinearQuadraticRegulator<2, 1>{plant, {0.02, 0.4}, {12.0}, 5_ms}.K();
EXPECT_NEAR(522.15314269, K(0, 0), 1e-6);
EXPECT_NEAR(38.20138596, K(0, 1), 1e-6);
EXPECT_NEAR(522.87006795347486, K(0, 0), 1e-6);
EXPECT_NEAR(38.239878385020411, K(0, 1), 1e-6);
}
TEST(LinearQuadraticRegulatorTest, ArmGains) {
@@ -56,11 +56,11 @@ TEST(LinearQuadraticRegulatorTest, ArmGains) {
}();
Matrixd<1, 2> K =
LinearQuadraticRegulator<2, 1>{plant, {0.01745, 0.08726}, {12.0}, 5.05_ms}
LinearQuadraticRegulator<2, 1>{plant, {0.01745, 0.08726}, {12.0}, 5_ms}
.K();
EXPECT_NEAR(19.16, K(0, 0), 1e-1);
EXPECT_NEAR(3.32, K(0, 1), 1e-1);
EXPECT_NEAR(19.339349883583761, K(0, 0), 1e-6);
EXPECT_NEAR(3.3542559517421582, K(0, 1), 1e-6);
}
TEST(LinearQuadraticRegulatorTest, FourMotorElevator) {