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[wpimath] Fix potential divide-by-zero in RKDP (#5242)

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If f(x, u) has no dynamics, the truncation error can be zero.
This commit is contained in:
Tyler Veness
2023-03-26 17:00:09 -07:00
committed by GitHub
parent 9227b2166e
commit 63512bbbb8
6 changed files with 36 additions and 4 deletions
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wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp
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@@ -66,7 +66,7 @@ TEST(ElevatorSimTest, MinMax) {
TEST(ElevatorSimTest, Stability) {
frc::sim::ElevatorSim sim{
frc::DCMotor::Vex775Pro(4), 100, 4_kg, 0.5_in, 0_m, 10_m, true};
frc::DCMotor::Vex775Pro(4), 100, 4_kg, 0.5_in, 0_m, 10_m, false};
sim.SetState(frc::Vectord<2>{0.0, 0.0});
sim.SetInput(frc::Vectord<1>{12.0});