[wpimath] Move controller tests to wpimath (#3541)

2026-06-23 01:21:42 +00:00 · 2021-09-06 17:00:13 -07:00
parent 01ba56a8a6
commit 32d9949e4d
5 changed files with 6 additions and 7 deletions
--- a/wpimath/src/test/native/cpp/controller/HolonomicDriveControllerTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/HolonomicDriveControllerTest.cpp
@@ -0,0 +1,64 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <wpi/numbers>
+
+#include "frc/MathUtil.h"
+#include "frc/controller/HolonomicDriveController.h"
+#include "frc/trajectory/TrajectoryGenerator.h"
+#include "gtest/gtest.h"
+#include "units/math.h"
+#include "units/time.h"
+
+#define EXPECT_NEAR_UNITS(val1, val2, eps) \
+  EXPECT_LE(units::math::abs(val1 - val2), eps)
+
+static constexpr units::meter_t kTolerance{1 / 12.0};
+static constexpr units::radian_t kAngularTolerance{2.0 * wpi::numbers::pi /
+                                                   180.0};
+
+TEST(HolonomicDriveControllerTest, ReachesReference) {
+  frc::HolonomicDriveController controller{
+      frc2::PIDController{1.0, 0.0, 0.0}, frc2::PIDController{1.0, 0.0, 0.0},
+      frc::ProfiledPIDController<units::radian>{
+          1.0, 0.0, 0.0,
+          frc::TrapezoidProfile<units::radian>::Constraints{
+              6.28_rad_per_s, 3.14_rad_per_s / 1_s}}};
+
+  frc::Pose2d robotPose{2.7_m, 23_m, frc::Rotation2d{0_deg}};
+
+  auto waypoints = std::vector{frc::Pose2d{2.75_m, 22.521_m, 0_rad},
+                               frc::Pose2d{24.73_m, 19.68_m, 5.846_rad}};
+  auto trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
+      waypoints, {8.0_mps, 4.0_mps_sq});
+
+  constexpr auto kDt = 0.02_s;
+  auto totalTime = trajectory.TotalTime();
+  for (size_t i = 0; i < (totalTime / kDt).to<double>(); ++i) {
+    auto state = trajectory.Sample(kDt * i);
+    auto [vx, vy, omega] = controller.Calculate(robotPose, state, 0_rad);
+
+    robotPose = robotPose.Exp(frc::Twist2d{vx * kDt, vy * kDt, omega * kDt});
+  }
+
+  auto& endPose = trajectory.States().back().pose;
+  EXPECT_NEAR_UNITS(endPose.X(), robotPose.X(), kTolerance);
+  EXPECT_NEAR_UNITS(endPose.Y(), robotPose.Y(), kTolerance);
+  EXPECT_NEAR_UNITS(frc::AngleModulus(robotPose.Rotation().Radians()), 0_rad,
+                    kAngularTolerance);
+}
+
+TEST(HolonomicDriveControllerTest, DoesNotRotateUnnecessarily) {
+  frc::HolonomicDriveController controller{
+      frc2::PIDController{1, 0, 0}, frc2::PIDController{1, 0, 0},
+      frc::ProfiledPIDController<units::radian>{
+          1, 0, 0,
+          frc::TrapezoidProfile<units::radian>::Constraints{
+              4_rad_per_s, 2_rad_per_s / 1_s}}};
+
+  frc::ChassisSpeeds speeds = controller.Calculate(
+      frc::Pose2d(0_m, 0_m, 1.57_rad), frc::Pose2d(), 0_mps, 1.57_rad);
+
+  EXPECT_EQ(0, speeds.omega.to<double>());
+}