Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-23 01:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

SCRIPT: wpiformat

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

72
wpimath/src/test/native/cpp/controller/DifferentialDriveAccelerationLimiterTest.cpp
View File

@@ -38,7 +38,7 @@ TEST(DifferentialDriveAccelerationLimiterTest, LowLimits) {
Vectord<2> accels =
plant.A() * xAccelLimiter + plant.B() * Vectord<2>{-12.0, 12.0};
wpi::units::radians_per_second_squared_t alpha{(accels(1) - accels(0)) /
trackwidth.value()};
trackwidth.value()};
EXPECT_GT(wpi::units::math::abs(alpha), maxAlpha);
}
@@ -46,10 +46,10 @@ TEST(DifferentialDriveAccelerationLimiterTest, LowLimits) {
Vectord<2> u{12.0, 12.0};
for (auto t = 0_s; t < 3_s; t += dt) {
x = plant.CalculateX(x, u, dt);
auto [left, right] =
accelLimiter.Calculate(wpi::units::meters_per_second_t{xAccelLimiter(0)},
wpi::units::meters_per_second_t{xAccelLimiter(1)},
wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
auto [left, right] = accelLimiter.Calculate(
wpi::units::meters_per_second_t{xAccelLimiter(0)},
wpi::units::meters_per_second_t{xAccelLimiter(1)},
wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
xAccelLimiter =
plant.CalculateX(xAccelLimiter, Vectord<2>{left, right}, dt);
@@ -57,7 +57,7 @@ TEST(DifferentialDriveAccelerationLimiterTest, LowLimits) {
plant.A() * xAccelLimiter + plant.B() * Vectord<2>{left, right};
wpi::units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
wpi::units::radians_per_second_squared_t alpha{(accels(1) - accels(0)) /
trackwidth.value()};
trackwidth.value()};
EXPECT_LE(wpi::units::math::abs(a), maxA);
EXPECT_LE(wpi::units::math::abs(alpha), maxAlpha);
}
@@ -66,10 +66,10 @@ TEST(DifferentialDriveAccelerationLimiterTest, LowLimits) {
u = Vectord<2>{-12.0, -12.0};
for (auto t = 0_s; t < 3_s; t += dt) {
x = plant.CalculateX(x, u, dt);
auto [left, right] =
accelLimiter.Calculate(wpi::units::meters_per_second_t{xAccelLimiter(0)},
wpi::units::meters_per_second_t{xAccelLimiter(1)},
wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
auto [left, right] = accelLimiter.Calculate(
wpi::units::meters_per_second_t{xAccelLimiter(0)},
wpi::units::meters_per_second_t{xAccelLimiter(1)},
wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
xAccelLimiter =
plant.CalculateX(xAccelLimiter, Vectord<2>{left, right}, dt);
@@ -77,7 +77,7 @@ TEST(DifferentialDriveAccelerationLimiterTest, LowLimits) {
plant.A() * xAccelLimiter + plant.B() * Vectord<2>{left, right};
wpi::units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
wpi::units::radians_per_second_squared_t alpha{(accels(1) - accels(0)) /
trackwidth.value()};
trackwidth.value()};
EXPECT_LE(wpi::units::math::abs(a), maxA);
EXPECT_LE(wpi::units::math::abs(alpha), maxAlpha);
}
@@ -86,10 +86,10 @@ TEST(DifferentialDriveAccelerationLimiterTest, LowLimits) {
u = Vectord<2>{-12.0, 12.0};
for (auto t = 0_s; t < 3_s; t += dt) {
x = plant.CalculateX(x, u, dt);
auto [left, right] =
accelLimiter.Calculate(wpi::units::meters_per_second_t{xAccelLimiter(0)},
wpi::units::meters_per_second_t{xAccelLimiter(1)},
wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
auto [left, right] = accelLimiter.Calculate(
wpi::units::meters_per_second_t{xAccelLimiter(0)},
wpi::units::meters_per_second_t{xAccelLimiter(1)},
wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
xAccelLimiter =
plant.CalculateX(xAccelLimiter, Vectord<2>{left, right}, dt);
@@ -97,7 +97,7 @@ TEST(DifferentialDriveAccelerationLimiterTest, LowLimits) {
plant.A() * xAccelLimiter + plant.B() * Vectord<2>{left, right};
wpi::units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
wpi::units::radians_per_second_squared_t alpha{(accels(1) - accels(0)) /
trackwidth.value()};
trackwidth.value()};
EXPECT_LE(wpi::units::math::abs(a), maxA);
EXPECT_LE(wpi::units::math::abs(alpha), maxAlpha);
}
@@ -125,10 +125,10 @@ TEST(DifferentialDriveAccelerationLimiterTest, HighLimits) {
Vectord<2> u{12.0, 12.0};
for (auto t = 0_s; t < 3_s; t += dt) {
x = plant.CalculateX(x, u, dt);
auto [left, right] =
accelLimiter.Calculate(wpi::units::meters_per_second_t{xAccelLimiter(0)},
wpi::units::meters_per_second_t{xAccelLimiter(1)},
wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
auto [left, right] = accelLimiter.Calculate(
wpi::units::meters_per_second_t{xAccelLimiter(0)},
wpi::units::meters_per_second_t{xAccelLimiter(1)},
wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
xAccelLimiter =
plant.CalculateX(xAccelLimiter, Vectord<2>{left, right}, dt);
@@ -142,10 +142,10 @@ TEST(DifferentialDriveAccelerationLimiterTest, HighLimits) {
u = Vectord<2>{-12.0, -12.0};
for (auto t = 0_s; t < 3_s; t += dt) {
x = plant.CalculateX(x, u, dt);
auto [left, right] =
accelLimiter.Calculate(wpi::units::meters_per_second_t{xAccelLimiter(0)},
wpi::units::meters_per_second_t{xAccelLimiter(1)},
wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
auto [left, right] = accelLimiter.Calculate(
wpi::units::meters_per_second_t{xAccelLimiter(0)},
wpi::units::meters_per_second_t{xAccelLimiter(1)},
wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
xAccelLimiter =
plant.CalculateX(xAccelLimiter, Vectord<2>{left, right}, dt);
@@ -159,10 +159,10 @@ TEST(DifferentialDriveAccelerationLimiterTest, HighLimits) {
u = Vectord<2>{-12.0, 12.0};
for (auto t = 0_s; t < 3_s; t += dt) {
x = plant.CalculateX(x, u, dt);
auto [left, right] =
accelLimiter.Calculate(wpi::units::meters_per_second_t{xAccelLimiter(0)},
wpi::units::meters_per_second_t{xAccelLimiter(1)},
wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
auto [left, right] = accelLimiter.Calculate(
wpi::units::meters_per_second_t{xAccelLimiter(0)},
wpi::units::meters_per_second_t{xAccelLimiter(1)},
wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
xAccelLimiter =
plant.CalculateX(xAccelLimiter, Vectord<2>{left, right}, dt);
@@ -203,10 +203,10 @@ TEST(DifferentialDriveAccelerationLimiterTest, SeparateMinMaxLowLimits) {
Vectord<2> u{12.0, 12.0};
for (auto t = 0_s; t < 3_s; t += dt) {
x = plant.CalculateX(x, u, dt);
auto [left, right] =
accelLimiter.Calculate(wpi::units::meters_per_second_t{xAccelLimiter(0)},
wpi::units::meters_per_second_t{xAccelLimiter(1)},
wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
auto [left, right] = accelLimiter.Calculate(
wpi::units::meters_per_second_t{xAccelLimiter(0)},
wpi::units::meters_per_second_t{xAccelLimiter(1)},
wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
xAccelLimiter =
plant.CalculateX(xAccelLimiter, Vectord<2>{left, right}, dt);
@@ -221,10 +221,10 @@ TEST(DifferentialDriveAccelerationLimiterTest, SeparateMinMaxLowLimits) {
u = Vectord<2>{-12.0, -12.0};
for (auto t = 0_s; t < 3_s; t += dt) {
x = plant.CalculateX(x, u, dt);
auto [left, right] =
accelLimiter.Calculate(wpi::units::meters_per_second_t{xAccelLimiter(0)},
wpi::units::meters_per_second_t{xAccelLimiter(1)},
wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
auto [left, right] = accelLimiter.Calculate(
wpi::units::meters_per_second_t{xAccelLimiter(0)},
wpi::units::meters_per_second_t{xAccelLimiter(1)},
wpi::units::volt_t{u(0)}, wpi::units::volt_t{u(1)});
xAccelLimiter =
plant.CalculateX(xAccelLimiter, Vectord<2>{left, right}, dt);