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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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2
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java
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@@ -91,7 +91,7 @@ class ElevatorSimTest {
@Test
void testStability() {
var sim =
new ElevatorSim(DCMotor.getVex775Pro(4), 100, 4, Units.inchesToMeters(0.5), 0, 10, true);
new ElevatorSim(DCMotor.getVex775Pro(4), 100, 4, Units.inchesToMeters(0.5), 0, 10, false);
sim.setState(VecBuilder.fill(0, 0));
sim.setInput(12);