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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};