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[wpimath] Add core State-space classes (#2614)

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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: Claudius Tewari <cttewari@gmail.com>
Co-authored-by: Declan Freeman-Gleason <declanfreemangleason@gmail.com>
This commit is contained in:
Matt
2020-08-14 23:40:33 -07:00
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parent e5b84e2f87
commit 3b283ab9aa
84 changed files with 11747 additions and 174 deletions
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wpimath/src/test/native/cpp/controller/LinearQuadraticRegulatorTest.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <gtest/gtest.h>
#include <cmath>
#include "Eigen/Core"
#include "frc/controller/LinearQuadraticRegulator.h"
#include "frc/system/LinearSystem.h"
#include "frc/system/plant/DCMotor.h"
#include "frc/system/plant/LinearSystemId.h"
#include "units/time.h"
namespace frc {
TEST(LinearQuadraticRegulatorTest, ElevatorGains) {
LinearSystem<2, 1, 1> plant = [] {
auto motors = DCMotor::Vex775Pro(2);
// Carriage mass
constexpr auto m = 5_kg;
// Radius of pulley
constexpr auto r = 0.0181864_m;
// Gear ratio
constexpr double G = 40.0 / 40.0;
return frc::LinearSystemId::ElevatorSystem(motors, m, r, G);
}();
LinearQuadraticRegulator<2, 1> controller{
plant, {0.02, 0.4}, {12.0}, 0.00505_s};
EXPECT_NEAR(522.15314269, controller.K(0, 0), 1e-6);
EXPECT_NEAR(38.20138596, controller.K(0, 1), 1e-6);
}
TEST(LinearQuadraticRegulatorTest, ArmGains) {
LinearSystem<2, 1, 1> plant = [] {
auto motors = DCMotor::Vex775Pro(2);
// Carriage mass
constexpr auto m = 4_kg;
// Radius of pulley
constexpr auto r = 0.4_m;
// Gear ratio
constexpr double G = 100.0;
return frc::LinearSystemId::SingleJointedArmSystem(
motors, 1.0 / 3.0 * m * r * r, G);
}();
LinearQuadraticRegulator<2, 1> controller{
plant, {0.01745, 0.08726}, {12.0}, 0.00505_s};
EXPECT_NEAR(19.16, controller.K(0, 0), 1e-1);
EXPECT_NEAR(3.32, controller.K(0, 1), 1e-1);
}
TEST(LinearQuadraticRegulatorTest, FourMotorElevator) {
LinearSystem<2, 1, 1> plant = [] {
auto motors = DCMotor::Vex775Pro(4);
// Carriage mass
constexpr auto m = 8_kg;
// Radius of pulley
constexpr auto r = 0.75_in;
// Gear ratio
constexpr double G = 14.67;
return frc::LinearSystemId::ElevatorSystem(motors, m, r, G);
}();
LinearQuadraticRegulator<2, 1> controller{plant, {0.1, 0.2}, {12.0}, 0.020_s};
EXPECT_NEAR(10.38, controller.K(0, 0), 1e-1);
EXPECT_NEAR(0.69, controller.K(0, 1), 1e-1);
}
} // namespace frc