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[wpimath] Add minLinearAccel parameter to DifferentialDriveAccelerationLimiter (#4422)

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This commit is contained in:
Ryan Blue
2022-10-10 11:57:37 -04:00
committed by GitHub
parent 2a13dba8ac
commit 27b173374e
5 changed files with 246 additions and 6 deletions
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83
wpimath/src/test/native/cpp/controller/DifferentialDriveAccelerationLimiterTest.cpp
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@@ -171,4 +171,87 @@ TEST(DifferentialDriveAccelerationLimiterTest, HighLimits) {
}
}
TEST(DifferentialDriveAccelerationLimiterTest, SeperateMinMaxLowLimits) {
constexpr auto trackwidth = 0.9_m;
constexpr auto dt = 5_ms;
constexpr auto minA = -1_mps_sq;
constexpr auto maxA = 2_mps_sq;
constexpr auto maxAlpha = 2_rad_per_s_sq;
using Kv_t = decltype(1_V / 1_mps);
using Ka_t = decltype(1_V / 1_mps_sq);
auto plant = LinearSystemId::IdentifyDrivetrainSystem(Kv_t{1.0}, Ka_t{1.0},
Kv_t{1.0}, Ka_t{1.0});
DifferentialDriveAccelerationLimiter accelLimiter{plant, trackwidth, minA,
maxA, maxAlpha};
Vectord<2> x{0.0, 0.0};
Vectord<2> xAccelLimiter{0.0, 0.0};
// Ensure voltage exceeds acceleration before limiting
{
Vectord<2> accels =
plant.A() * xAccelLimiter + plant.B() * Vectord<2>{12.0, 12.0};
units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
EXPECT_GT(units::math::abs(a), maxA);
EXPECT_GT(units::math::abs(a), -minA);
}
// a should always be within [minA, maxA]
// Forward
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(units::meters_per_second_t{xAccelLimiter(0)},
units::meters_per_second_t{xAccelLimiter(1)},
units::volt_t{u(0)}, units::volt_t{u(1)});
xAccelLimiter =
plant.CalculateX(xAccelLimiter, Vectord<2>{left, right}, dt);
Vectord<2> accels =
plant.A() * xAccelLimiter + plant.B() * Vectord<2>{left, right};
units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
EXPECT_GE(a, minA);
EXPECT_LE(a, maxA);
}
// Backward
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(units::meters_per_second_t{xAccelLimiter(0)},
units::meters_per_second_t{xAccelLimiter(1)},
units::volt_t{u(0)}, units::volt_t{u(1)});
xAccelLimiter =
plant.CalculateX(xAccelLimiter, Vectord<2>{left, right}, dt);
Vectord<2> accels =
plant.A() * xAccelLimiter + plant.B() * Vectord<2>{left, right};
units::meters_per_second_squared_t a{(accels(0) + accels(1)) / 2.0};
EXPECT_GE(a, minA);
EXPECT_LE(a, maxA);
}
}
TEST(DifferentialDriveAccelerationLimiterTest, MinAccelGreaterThanMaxAccel) {
using Kv_t = decltype(1_V / 1_mps);
using Ka_t = decltype(1_V / 1_mps_sq);
auto plant = LinearSystemId::IdentifyDrivetrainSystem(Kv_t{1.0}, Ka_t{1.0},
Kv_t{1.0}, Ka_t{1.0});
EXPECT_NO_THROW({
DifferentialDriveAccelerationLimiter accelLimiter(plant, 1_m, 1_mps_sq,
1_rad_per_s_sq);
});
EXPECT_THROW(
{
DifferentialDriveAccelerationLimiter accelLimiter(
plant, 1_m, 1_mps_sq, -1_mps_sq, 1_rad_per_s_sq);
},
std::invalid_argument);
}
} // namespace frc