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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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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);
}