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[wpimath] Disallow LTV controller max velocities above 15 m/s (#5495)

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15 m/s is about 50 ft/s, which is way above what FRC robots should be
able to achieve. This limit lets us catch user errors from bad unit
conversions immediately instead of the LUT generation in the LTV
controllers hanging for a really long time.

Fixes #5027.
This commit is contained in:
Tyler Veness
2023-08-02 23:37:49 -07:00
committed by GitHub
parent 7496e0d208
commit 21439b606c
6 changed files with 24 additions and 8 deletions
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6
wpimath/src/main/native/cpp/controller/LTVDifferentialDriveController.cpp
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@@ -68,7 +68,11 @@ LTVDifferentialDriveController::LTVDifferentialDriveController(
if (maxV <= 0_mps) {
throw std::domain_error(
"Max velocity of plant with 12 V input must be greater than zero.");
"Max velocity of plant with 12 V input must be greater than 0 m/s.");
}
if (maxV >= 15_mps) {
throw std::domain_error(
"Max velocity of plant with 12 V input must be less than 15 m/s.");
}
for (auto velocity = -maxV; velocity < maxV; velocity += 0.01_mps) {

5
wpimath/src/main/native/cpp/controller/LTVUnicycleController.cpp
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@@ -40,7 +40,10 @@ LTVUnicycleController::LTVUnicycleController(
const wpi::array<double, 3>& Qelems, const wpi::array<double, 2>& Relems,
units::second_t dt, units::meters_per_second_t maxVelocity) {
if (maxVelocity <= 0_mps) {
throw std::domain_error("Max velocity must be greater than zero.");
throw std::domain_error("Max velocity must be greater than 0 m/s.");
}
if (maxVelocity >= 15_mps) {
throw std::domain_error("Max velocity must be less than 15 m/s.");
}
// The change in global pose for a unicycle is defined by the following three

3
wpimath/src/main/native/include/frc/controller/LTVDifferentialDriveController.h
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@@ -45,7 +45,8 @@ class WPILIB_DLLEXPORT LTVDifferentialDriveController {
* @param Qelems The maximum desired error tolerance for each state.
* @param Relems The maximum desired control effort for each input.
* @param dt Discretization timestep.
* @throws std::domain_error if max velocity of plant with 12 V input <= 0.
* @throws std::domain_error if max velocity of plant with 12 V input <= 0 m/s
* or >= 15 m/s.
*/
LTVDifferentialDriveController(const frc::LinearSystem<2, 2, 2>& plant,
units::meter_t trackwidth,

2
wpimath/src/main/native/include/frc/controller/LTVUnicycleController.h
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@@ -53,7 +53,7 @@ class WPILIB_DLLEXPORT LTVUnicycleController {
* @param dt Discretization timestep.
* @param maxVelocity The maximum velocity for the controller gain lookup
* table.
* @throws std::domain_error if maxVelocity &lt;= 0.
* @throws std::domain_error if maxVelocity <= 0 m/s or >= 15 m/s.
*/
LTVUnicycleController(const wpi::array<double, 3>& Qelems,
const wpi::array<double, 2>& Relems, units::second_t dt,