Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'main' into 2027

Browse Source
This commit is contained in:
Peter Johnson
2025-11-29 10:41:16 -08:00
parent a79f86ade3 769ce5e9fa
commit 704b6ccaee
8 changed files with 41 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp
View File

@@ -100,3 +100,15 @@ TEST(ElevatorSimTest, Stability) {
wpi::math::Vectord<1>{12.0}, 20_ms * 50)(0)},
sim.GetPosition(), 1_cm);
}
TEST(ElevatorSimTest, CurrentDraw) {
auto const motor = frc::DCMotor::KrakenX60(2);
frc::sim::ElevatorSim sim(motor, 20, 8_kg, 0.1_m, 0_m, 1_m, true, 0_m,
{0.01, 0.0});
EXPECT_DOUBLE_EQ(0.0, sim.GetCurrentDraw().value());
sim.SetInputVoltage(motor.Voltage(motor.Torque(60_A), 0_rad_per_s));
sim.Update(100_ms);
// current draw should start at 60 A and decrease as the back emf catches up
EXPECT_TRUE(0_A < sim.GetCurrentDraw() && sim.GetCurrentDraw() < 60_A);
}