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[wpilib] Check for signedness in ArcadeDriveIK() (#4028)

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If xSpeed == -0.0 and zRotation > 0, the algorithm assumes it's in the
third quadrant instead of the first since +0.0 == -0.0.

Also added tests for inverse kinematic functions, fixed some
MecanumDrive test bugs, and added Java MecanumDrive.driveCartesianIK()
and KilloughDrive.driveCartesianIK() overloads with defaulted gyro angle
that C++ already had.

Fixes #4022.
This commit is contained in:
Tyler Veness
2022-02-17 18:03:59 -08:00
committed by GitHub
parent a19d1133b1
commit 49adac9564
10 changed files with 844 additions and 39 deletions
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106
wpilibc/src/test/native/cpp/drive/MecanumDriveTest.cpp
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@@ -6,12 +6,86 @@
#include "frc/drive/MecanumDrive.h"
#include "gtest/gtest.h"
TEST(MecanumDriveTest, CartesianIK) {
// Forward
auto speeds = frc::MecanumDrive::DriveCartesianIK(1.0, 0.0, 0.0);
EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
// Left
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, -1.0, 0.0);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearRight);
// Right
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 1.0, 0.0);
EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
// Rotate CCW
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 0.0, -1.0);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
// Rotate CW
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 0.0, 1.0);
EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearRight);
}
TEST(MecanumDriveTest, CartesianIKGyro90CW) {
// Forward in global frame; left in robot frame
auto speeds = frc::MecanumDrive::DriveCartesianIK(1.0, 0.0, 0.0, 90.0);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearRight);
// Left in global frame; backward in robot frame
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, -1.0, 0.0, 90.0);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearRight);
// Right in global frame; forward in robot frame
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 1.0, 0.0, 90.0);
EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
// Rotate CCW
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 0.0, -1.0, 90.0);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
// Rotate CW
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 0.0, 1.0, 90.0);
EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearRight);
}
TEST(MecanumDriveTest, Cartesian) {
frc::MockMotorController fl;
frc::MockMotorController fr;
frc::MockMotorController rl;
frc::MockMotorController fr;
frc::MockMotorController rr;
frc::MecanumDrive drive{fl, fr, rl, rr};
frc::MecanumDrive drive{fl, rl, fr, rr};
drive.SetDeadband(0.0);
// Forward
@@ -38,15 +112,15 @@ TEST(MecanumDriveTest, Cartesian) {
// Rotate CCW
drive.DriveCartesian(0.0, 0.0, -1.0);
EXPECT_DOUBLE_EQ(-1.0, fl.Get());
EXPECT_DOUBLE_EQ(-1.0, fr.Get());
EXPECT_DOUBLE_EQ(1.0, rl.Get());
EXPECT_DOUBLE_EQ(1.0, fr.Get());
EXPECT_DOUBLE_EQ(-1.0, rl.Get());
EXPECT_DOUBLE_EQ(1.0, rr.Get());
// Rotate CW
drive.DriveCartesian(0.0, 0.0, 1.0);
EXPECT_DOUBLE_EQ(1.0, fl.Get());
EXPECT_DOUBLE_EQ(1.0, fr.Get());
EXPECT_DOUBLE_EQ(-1.0, rl.Get());
EXPECT_DOUBLE_EQ(-1.0, fr.Get());
EXPECT_DOUBLE_EQ(1.0, rl.Get());
EXPECT_DOUBLE_EQ(-1.0, rr.Get());
}
@@ -55,7 +129,7 @@ TEST(MecanumDriveTest, CartesianGyro90CW) {
frc::MockMotorController fr;
frc::MockMotorController rl;
frc::MockMotorController rr;
frc::MecanumDrive drive{fl, fr, rl, rr};
frc::MecanumDrive drive{fl, rl, fr, rr};
drive.SetDeadband(0.0);
// Forward in global frame; left in robot frame
@@ -82,15 +156,15 @@ TEST(MecanumDriveTest, CartesianGyro90CW) {
// Rotate CCW
drive.DriveCartesian(0.0, 0.0, -1.0, 90.0);
EXPECT_DOUBLE_EQ(-1.0, fl.Get());
EXPECT_DOUBLE_EQ(-1.0, fr.Get());
EXPECT_DOUBLE_EQ(1.0, rl.Get());
EXPECT_DOUBLE_EQ(1.0, fr.Get());
EXPECT_DOUBLE_EQ(-1.0, rl.Get());
EXPECT_DOUBLE_EQ(1.0, rr.Get());
// Rotate CW
drive.DriveCartesian(0.0, 0.0, 1.0, 90.0);
EXPECT_DOUBLE_EQ(1.0, fl.Get());
EXPECT_DOUBLE_EQ(1.0, fr.Get());
EXPECT_DOUBLE_EQ(-1.0, rl.Get());
EXPECT_DOUBLE_EQ(-1.0, fr.Get());
EXPECT_DOUBLE_EQ(1.0, rl.Get());
EXPECT_DOUBLE_EQ(-1.0, rr.Get());
}
@@ -99,7 +173,7 @@ TEST(MecanumDriveTest, Polar) {
frc::MockMotorController fr;
frc::MockMotorController rl;
frc::MockMotorController rr;
frc::MecanumDrive drive{fl, fr, rl, rr};
frc::MecanumDrive drive{fl, rl, fr, rr};
drive.SetDeadband(0.0);
// Forward
@@ -126,14 +200,14 @@ TEST(MecanumDriveTest, Polar) {
// Rotate CCW
drive.DrivePolar(0.0, 0.0, -1.0);
EXPECT_DOUBLE_EQ(-1.0, fl.Get());
EXPECT_DOUBLE_EQ(-1.0, fr.Get());
EXPECT_DOUBLE_EQ(1.0, rl.Get());
EXPECT_DOUBLE_EQ(1.0, fr.Get());
EXPECT_DOUBLE_EQ(-1.0, rl.Get());
EXPECT_DOUBLE_EQ(1.0, rr.Get());
// Rotate CW
drive.DrivePolar(0.0, 0.0, 1.0);
EXPECT_DOUBLE_EQ(1.0, fl.Get());
EXPECT_DOUBLE_EQ(1.0, fr.Get());
EXPECT_DOUBLE_EQ(-1.0, rl.Get());
EXPECT_DOUBLE_EQ(-1.0, fr.Get());
EXPECT_DOUBLE_EQ(1.0, rl.Get());
EXPECT_DOUBLE_EQ(-1.0, rr.Get());
}