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[wpilib] Add DCMotorSim (#3910)

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modelmat
2022-01-22 04:42:06 +00:00
committed by GitHub
parent a467392cbd
commit 42908126b9
9 changed files with 541 additions and 0 deletions
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13
wpimath/src/test/java/edu/wpi/first/math/system/LinearSystemIDTest.java
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@@ -64,6 +64,19 @@ class LinearSystemIDTest {
assertTrue(model.getD().isEqual(VecBuilder.fill(0), 0.001));
}
@Test
void testDCMotorSystem() {
var model = LinearSystemId.createDCMotorSystem(DCMotor.getNEO(2), 0.00032, 1.0);
assertTrue(
model.getA().isEqual(Matrix.mat(Nat.N2(), Nat.N2()).fill(0, 1, 0, -26.87032), 0.001));
assertTrue(model.getB().isEqual(VecBuilder.fill(0, 1354.166667), 0.001));
assertTrue(model.getC().isEqual(Matrix.eye(Nat.N2()), 0.001));
assertTrue(model.getD().isEqual(new Matrix<>(Nat.N2(), Nat.N1()), 0.001));
}
@Test
void testIdentifyPositionSystem() {
// By controls engineering in frc,