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Merge branch 'main' into development

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This commit is contained in:
Peter Johnson
2024-03-09 09:57:55 -08:00
parent 9ed0631ec9 18e57f7872
commit 38c128fe6a
88 changed files with 941 additions and 230 deletions
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27
sysid/src/test/native/cpp/analysis/FeedbackAnalysisTest.cpp
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@@ -103,3 +103,30 @@ TEST(FeedbackAnalysisTest, VelocityREVConversion) {
EXPECT_NEAR(Kp, 0.00241 / 3, 0.005);
EXPECT_NEAR(Kd, 0.00, 0.05);
}
TEST(FeedbackAnalysisTest, Position) {
auto Kv = 3.060;
auto Ka = 0.327;
sysid::LQRParameters params{1, 1.5, 7};
auto [Kp, Kd] = sysid::CalculatePositionFeedbackGains(
sysid::presets::kDefault, params, Kv, Ka);
EXPECT_NEAR(Kp, 6.41, 0.05);
EXPECT_NEAR(Kd, 2.48, 0.05);
}
TEST(FeedbackAnalysisTest, PositionWithLatencyCompensation) {
auto Kv = 3.060;
auto Ka = 0.327;
sysid::LQRParameters params{1, 1.5, 7};
sysid::FeedbackControllerPreset preset{sysid::presets::kDefault};
preset.measurementDelay = 10_ms;
auto [Kp, Kd] = sysid::CalculatePositionFeedbackGains(preset, params, Kv, Ka);
EXPECT_NEAR(Kp, 5.92, 0.05);
EXPECT_NEAR(Kd, 2.12, 0.05);
}