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[sysid] Remove obsolete WPILib presets, rename CTRE presets (#6460)

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DeltaDizzy
2024-04-27 08:55:19 -05:00
committed by GitHub
parent 427b7dcc11
commit 2cd3935aa8
4 changed files with 19 additions and 24 deletions
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sysid/src/test/native/cpp/analysis/FeedbackAnalysisTest.cpp
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@@ -55,7 +55,7 @@ TEST(FeedbackAnalysisTest, VelocityCTRE) {
sysid::LQRParameters params{1, 1.5, 7};
auto [Kp, Kd] = sysid::CalculateVelocityFeedbackGains(
sysid::presets::kCTRECANCoder, params, Kv, Ka);
sysid::presets::kCTREv5CANCoder, params, Kv, Ka);
EXPECT_NEAR(Kp, 0.000417, 0.00005);
EXPECT_NEAR(Kd, 0.00, 0.05);
@@ -68,7 +68,7 @@ TEST(FeedbackAnalysisTest, VelocityCTREConversion) {
sysid::LQRParameters params{1, 1.5, 7};
auto [Kp, Kd] = sysid::CalculateVelocityFeedbackGains(
sysid::presets::kCTRECANCoder, params, Kv, Ka, 3.0);
sysid::presets::kCTREv5CANCoder, params, Kv, Ka, 3.0);
// This should have the same Kp as the test above, but scaled by a factor
// of 3.