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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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14
wpimath/src/test/native/cpp/controller/ArmFeedforwardTest.cpp
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@@ -35,18 +35,20 @@ using Kg_unit = decltype(1_V);
* @param dt The simulation time.
* @return The final state as a 2-vector of angle and angular velocity.
*/
wpi::math::Matrixd<2, 1> Simulate(Ks_unit Ks, Kv_unit Kv, Ka_unit Ka, Kg_unit Kg,
wpi::units::radian_t currentAngle,
wpi::units::radians_per_second_t currentVelocity,
wpi::units::volt_t input, wpi::units::second_t dt) {
wpi::math::Matrixd<2, 1> Simulate(
Ks_unit Ks, Kv_unit Kv, Ka_unit Ka, Kg_unit Kg,
wpi::units::radian_t currentAngle,
wpi::units::radians_per_second_t currentVelocity, wpi::units::volt_t input,
wpi::units::second_t dt) {
wpi::math::Matrixd<2, 2> A{{0.0, 1.0}, {0.0, -Kv.value() / Ka.value()}};
wpi::math::Matrixd<2, 1> B{{0.0}, {1.0 / Ka.value()}};
return wpi::math::RK4(
[&](const wpi::math::Matrixd<2, 1>& x,
const wpi::math::Matrixd<1, 1>& u) -> wpi::math::Matrixd<2, 1> {
wpi::math::Matrixd<2, 1> c{0.0, -Ks.value() / Ka.value() * wpi::util::sgn(x(1)) -
Kg.value() / Ka.value() * std::cos(x(0))};
wpi::math::Matrixd<2, 1> c{
0.0, -Ks.value() / Ka.value() * wpi::util::sgn(x(1)) -
Kg.value() / Ka.value() * std::cos(x(0))};
return A * x + B * u + c;
},
wpi::math::Matrixd<2, 1>{currentAngle.value(), currentVelocity.value()},