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[wpilib] DCMotorSim cleanup/enhancement (#7021)

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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Nicholas Armstrong
2024-10-11 01:09:22 -04:00
committed by GitHub
parent 5acb4109ff
commit 5d9a553104
6 changed files with 245 additions and 69 deletions
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11
wpilibc/src/test/native/cpp/simulation/DCMotorSimTest.cpp
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@@ -12,11 +12,13 @@
#include "frc/simulation/DCMotorSim.h"
#include "frc/simulation/EncoderSim.h"
#include "frc/simulation/RoboRioSim.h"
#include "frc/system/plant/LinearSystemId.h"
TEST(DCMotorSimTest, VoltageSteadyState) {
frc::DCMotor gearbox = frc::DCMotor::NEO(1);
frc::sim::DCMotorSim sim{gearbox, 1.0,
units::kilogram_square_meter_t{0.0005}};
auto plant = frc::LinearSystemId::DCMotorSystem(
frc::DCMotor::NEO(1), units::kilogram_square_meter_t{0.0005}, 1.0);
frc::sim::DCMotorSim sim{plant, gearbox};
frc::Encoder encoder{0, 1};
frc::sim::EncoderSim encoderSim{encoder};
@@ -60,8 +62,9 @@ TEST(DCMotorSimTest, VoltageSteadyState) {
TEST(DCMotorSimTest, PositionFeedbackControl) {
frc::DCMotor gearbox = frc::DCMotor::NEO(1);
frc::sim::DCMotorSim sim{gearbox, 1.0,
units::kilogram_square_meter_t{0.0005}};
auto plant = frc::LinearSystemId::DCMotorSystem(
frc::DCMotor::NEO(1), units::kilogram_square_meter_t{0.0005}, 1.0);
frc::sim::DCMotorSim sim{plant, gearbox};
frc::PIDController controller{0.04, 0.0, 0.001};