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This commit is contained in:
PJ Reiniger
2025-11-07 20:01:58 -05:00
committed by Peter Johnson
parent ae6bdc9d25
commit 2109161534
749 changed files with 5504 additions and 3936 deletions
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6
wpilibc/src/test/native/cpp/simulation/DCMotorSimTest.cpp
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@@ -17,7 +17,8 @@
TEST(DCMotorSimTest, VoltageSteadyState) {
wpi::math::DCMotor gearbox = wpi::math::DCMotor::NEO(1);
auto plant = wpi::math::LinearSystemId::DCMotorSystem(
wpi::math::DCMotor::NEO(1), wpi::units::kilogram_square_meter_t{0.0005}, 1.0);
wpi::math::DCMotor::NEO(1), wpi::units::kilogram_square_meter_t{0.0005},
1.0);
wpi::sim::DCMotorSim sim{plant, gearbox};
wpi::Encoder encoder{0, 1};
@@ -63,7 +64,8 @@ TEST(DCMotorSimTest, VoltageSteadyState) {
TEST(DCMotorSimTest, PositionFeedbackControl) {
wpi::math::DCMotor gearbox = wpi::math::DCMotor::NEO(1);
auto plant = wpi::math::LinearSystemId::DCMotorSystem(
wpi::math::DCMotor::NEO(1), wpi::units::kilogram_square_meter_t{0.0005}, 1.0);
wpi::math::DCMotor::NEO(1), wpi::units::kilogram_square_meter_t{0.0005},
1.0);
wpi::sim::DCMotorSim sim{plant, gearbox};
wpi::math::PIDController controller{0.04, 0.0, 0.001};

3
wpilibc/src/test/native/cpp/simulation/DifferentialDrivetrainSimTest.cpp
View File

@@ -51,7 +51,8 @@ TEST(DifferentialDrivetrainSimTest, Convergence) {
feedforward.Calculate(wpi::math::Vectord<2>{l.value(), r.value()});
// Sim periodic code.
sim.SetInputs(wpi::units::volt_t{voltages(0, 0)}, wpi::units::volt_t{voltages(1, 0)});
sim.SetInputs(wpi::units::volt_t{voltages(0, 0)},
wpi::units::volt_t{voltages(1, 0)});
sim.Update(20_ms);
// Update ground truth.

37
wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp
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@@ -20,8 +20,8 @@
EXPECT_LE(wpi::units::math::abs(val1 - val2), eps)
TEST(ElevatorSimTest, StateSpaceSim) {
wpi::sim::ElevatorSim sim(wpi::math::DCMotor::Vex775Pro(4), 14.67, 8_kg, 0.75_in,
0_m, 3_m, true, 0_m, {0.01});
wpi::sim::ElevatorSim sim(wpi::math::DCMotor::Vex775Pro(4), 14.67, 8_kg,
0.75_in, 0_m, 3_m, true, 0_m, {0.01});
wpi::math::PIDController controller(10, 0.0, 0.0);
wpi::PWMVictorSPX motor(0);
@@ -33,7 +33,8 @@ TEST(ElevatorSimTest, StateSpaceSim) {
auto nextVoltage = controller.Calculate(encoderSim.GetDistance());
motor.Set(nextVoltage / wpi::RobotController::GetInputVoltage());
wpi::math::Vectord<1> u{motor.Get() * wpi::RobotController::GetInputVoltage()};
wpi::math::Vectord<1> u{motor.Get() *
wpi::RobotController::GetInputVoltage()};
sim.SetInput(u);
sim.Update(20_ms);
@@ -46,16 +47,16 @@ TEST(ElevatorSimTest, StateSpaceSim) {
TEST(ElevatorSimTest, InitialState) {
constexpr auto startingHeight = 0.5_m;
wpi::sim::ElevatorSim sim(wpi::math::DCMotor::KrakenX60(2), 20, 8_kg, 0.1_m, 0_m,
1_m, true, startingHeight, {0.01, 0.0});
wpi::sim::ElevatorSim sim(wpi::math::DCMotor::KrakenX60(2), 20, 8_kg, 0.1_m,
0_m, 1_m, true, startingHeight, {0.01, 0.0});
EXPECT_DOUBLE_EQ(startingHeight.value(), sim.GetPosition().value());
EXPECT_DOUBLE_EQ(0, sim.GetVelocity().value());
}
TEST(ElevatorSimTest, MinMax) {
wpi::sim::ElevatorSim sim(wpi::math::DCMotor::Vex775Pro(4), 14.67, 8_kg, 0.75_in,
0_m, 1_m, true, 0_m, {0.01});
wpi::sim::ElevatorSim sim(wpi::math::DCMotor::Vex775Pro(4), 14.67, 8_kg,
0.75_in, 0_m, 1_m, true, 0_m, {0.01});
for (size_t i = 0; i < 100; ++i) {
sim.SetInput(wpi::math::Vectord<1>{0.0});
sim.Update(20_ms);
@@ -74,8 +75,14 @@ TEST(ElevatorSimTest, MinMax) {
}
TEST(ElevatorSimTest, Stability) {
wpi::sim::ElevatorSim sim{
wpi::math::DCMotor::Vex775Pro(4), 100, 4_kg, 0.5_in, 0_m, 10_m, false, 0_m};
wpi::sim::ElevatorSim sim{wpi::math::DCMotor::Vex775Pro(4),
100,
4_kg,
0.5_in,
0_m,
10_m,
false,
0_m};
sim.SetState(wpi::math::Vectord<2>{0.0, 0.0});
sim.SetInput(wpi::math::Vectord<1>{12.0});
@@ -84,11 +91,11 @@ TEST(ElevatorSimTest, Stability) {
}
wpi::math::LinearSystem<2, 1, 1> system =
wpi::math::LinearSystemId::ElevatorSystem(wpi::math::DCMotor::Vex775Pro(4), 4_kg,
0.5_in, 100)
wpi::math::LinearSystemId::ElevatorSystem(
wpi::math::DCMotor::Vex775Pro(4), 4_kg, 0.5_in, 100)
.Slice(0);
EXPECT_NEAR_UNITS(
wpi::units::meter_t{system.CalculateX(wpi::math::Vectord<2>{0.0, 0.0},
wpi::math::Vectord<1>{12.0}, 20_ms * 50)(0)},
sim.GetPosition(), 1_cm);
EXPECT_NEAR_UNITS(wpi::units::meter_t{system.CalculateX(
wpi::math::Vectord<2>{0.0, 0.0},
wpi::math::Vectord<1>{12.0}, 20_ms * 50)(0)},
sim.GetPosition(), 1_cm);
}

10
wpilibc/src/test/native/cpp/simulation/SingleJointedArmSimTest.cpp
View File

@@ -9,8 +9,9 @@
#include "wpi/simulation/SingleJointedArmSim.hpp"
TEST(SingleJointedArmTest, Disabled) {
wpi::sim::SingleJointedArmSim sim(wpi::math::DCMotor::Vex775Pro(2), 300, 3_kg_sq_m,
30_in, -180_deg, 0_deg, true, 90_deg);
wpi::sim::SingleJointedArmSim sim(wpi::math::DCMotor::Vex775Pro(2), 300,
3_kg_sq_m, 30_in, -180_deg, 0_deg, true,
90_deg);
sim.SetState(wpi::math::Vectord<2>{0.0, 0.0});
for (size_t i = 0; i < 12 / 0.02; ++i) {
@@ -24,8 +25,9 @@ TEST(SingleJointedArmTest, Disabled) {
TEST(SingleJointedArmTest, InitialState) {
constexpr auto startingAngle = 45_deg;
wpi::sim::SingleJointedArmSim sim(wpi::math::DCMotor::KrakenX60(2), 125, 3_kg_sq_m,
30_in, 0_deg, 90_deg, true, startingAngle);
wpi::sim::SingleJointedArmSim sim(wpi::math::DCMotor::KrakenX60(2), 125,
3_kg_sq_m, 30_in, 0_deg, 90_deg, true,
startingAngle);
EXPECT_EQ(startingAngle, sim.GetAngle());
EXPECT_DOUBLE_EQ(0, sim.GetVelocity().value());

4
wpilibc/src/test/native/cpp/simulation/StateSpaceSimTest.cpp
View File

@@ -45,8 +45,8 @@ TEST(StateSpaceSimTest, FlywheelSim) {
// Then, SimulationPeriodic runs
wpi::sim::RoboRioSim::SetVInVoltage(
wpi::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
sim.SetInput(
wpi::math::Vectord<1>{motor.Get() * wpi::RobotController::GetInputVoltage()});
sim.SetInput(wpi::math::Vectord<1>{
motor.Get() * wpi::RobotController::GetInputVoltage()});
sim.Update(20_ms);
encoderSim.SetRate(sim.GetAngularVelocity().value());
}