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[wpimath] Fully discretized ElevatorFF and ArmFF (#7024)

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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Nicholas Armstrong
2024-10-11 01:10:45 -04:00
committed by GitHub
parent 5d9a553104
commit 4adfa8bf64
31 changed files with 1004 additions and 425 deletions
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13
wpimath/src/test/native/cpp/controller/ArmFeedforwardTest.cpp
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@@ -62,7 +62,7 @@ void CalculateAndSimulate(const frc::ArmFeedforward& armFF,
units::radians_per_second_t currentVelocity,
units::radians_per_second_t nextVelocity,
units::second_t dt) {
auto input = armFF.Calculate(currentAngle, currentVelocity, nextVelocity, dt);
auto input = armFF.Calculate(currentAngle, currentVelocity, nextVelocity);
EXPECT_NEAR(nextVelocity.value(),
Simulate(currentAngle, currentVelocity, input, dt)(1), 1e-12);
}
@@ -80,17 +80,6 @@ TEST(ArmFeedforwardTest, Calculate) {
armFF.Calculate(std::numbers::pi / 3 * 1_rad, 1_rad_per_s).value(), 2.5,
0.002);
// Calculate(angle, angular velocity, angular acceleration)
EXPECT_NEAR(
armFF.Calculate(std::numbers::pi / 3 * 1_rad, 1_rad_per_s, 2_rad_per_s_sq)
.value(),
6.5, 0.002);
EXPECT_NEAR(
armFF
.Calculate(std::numbers::pi / 3 * 1_rad, -1_rad_per_s, 2_rad_per_s_sq)
.value(),
2.5, 0.002);
// Calculate(currentAngle, currentVelocity, nextAngle, dt)
CalculateAndSimulate(armFF, std::numbers::pi / 3 * 1_rad, 1_rad_per_s,
1.05_rad_per_s, 20_ms);