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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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12
wpimath/src/test/native/cpp/system/LinearSystemIDTest.cpp
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@@ -49,6 +49,18 @@ TEST(LinearSystemIDTest, FlywheelSystem) {
ASSERT_TRUE(model.D().isApprox(Eigen::Matrix<double, 1, 1>{0.0}, 0.001));
}
TEST(LinearSystemIDTest, DCMotorSystem) {
auto model = frc::LinearSystemId::DCMotorSystem(frc::DCMotor::NEO(2),
0.00032_kg_sq_m, 1.0);
ASSERT_TRUE(model.A().isApprox(
Eigen::Matrix<double, 2, 2>{{0, 1}, {0, -26.87032}}, 0.001));
ASSERT_TRUE(
model.B().isApprox(Eigen::Matrix<double, 2, 1>{0, 1354.166667}, 0.001));
ASSERT_TRUE(model.C().isApprox(
Eigen::Matrix<double, 2, 2>{{1.0, 0.0}, {0.0, 1.0}}, 0.001));
ASSERT_TRUE(model.D().isApprox(Eigen::Matrix<double, 2, 1>{0.0, 0.0}, 0.001));
}
TEST(LinearSystemIDTest, IdentifyPositionSystem) {
// By controls engineering in frc,
// x-dot = [0 1 | 0 -kv/ka] x = [0 | 1/ka] u