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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
View File

@@ -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