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[wpimath] Deprecate RamseteController (#6494)

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LTVUnicycleController is a drop-in replacement with better tuning knobs.

The RamseteCommand examples were removed instead of retrofitted with
LTVUnicycleController because we're planning on removing the command
controller classes anyway, so it would be wasted effort. The
SimpleDifferentialDriveSimulation example shows direct
LTVUnicycleController usage.
This commit is contained in:
Tyler Veness
2024-04-29 22:01:42 -07:00
committed by GitHub
parent 7601b7250a
commit 5359112b15
45 changed files with 45 additions and 2929 deletions
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8
wpilibc/src/test/native/cpp/simulation/DifferentialDrivetrainSimTest.cpp
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@@ -7,8 +7,8 @@
#include <units/math.h>
#include <units/moment_of_inertia.h>
#include "frc/controller/LTVUnicycleController.h"
#include "frc/controller/LinearPlantInversionFeedforward.h"
#include "frc/controller/RamseteController.h"
#include "frc/kinematics/DifferentialDriveKinematics.h"
#include "frc/simulation/DifferentialDrivetrainSim.h"
#include "frc/system/NumericalIntegration.h"
@@ -28,7 +28,7 @@ TEST(DifferentialDrivetrainSimTest, Convergence) {
1.0, 2_in, {0.001, 0.001, 0.0001, 0.1, 0.1, 0.005, 0.005}};
frc::LinearPlantInversionFeedforward feedforward{plant, 20_ms};
frc::RamseteController ramsete;
frc::LTVUnicycleController feedback{20_ms};
feedforward.Reset(frc::Vectord<2>{0.0, 0.0});
@@ -44,9 +44,9 @@ TEST(DifferentialDrivetrainSimTest, Convergence) {
for (auto t = 0_s; t < trajectory.TotalTime(); t += 20_ms) {
auto state = trajectory.Sample(t);
auto ramseteOut = ramsete.Calculate(sim.GetPose(), state);
auto feedbackOut = feedback.Calculate(sim.GetPose(), state);
auto [l, r] = kinematics.ToWheelSpeeds(ramseteOut);
auto [l, r] = kinematics.ToWheelSpeeds(feedbackOut);
auto voltages =
feedforward.Calculate(frc::Vectord<2>{l.value(), r.value()});