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[wpilib] Increase tolerances of DifferentialDriveSimTest (#3581)

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This commit is contained in:
Tyler Veness
2021-09-16 23:42:46 -07:00
committed by GitHub
parent 4dff873013
commit 725251d294
2 changed files with 12 additions and 5 deletions
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11
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSimTest.java
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@@ -79,15 +79,20 @@ class DifferentialDrivetrainSimTest {
groundTruthX = NumericalIntegration.rk4(sim::getDynamics, groundTruthX, voltages, 0.020);
}
// 2 inch tolerance is OK since our ground truth is an approximation of the
// ODE solution using RK4 anyway
assertEquals(
groundTruthX.get(DifferentialDrivetrainSim.State.kX.value, 0),
sim.getState(DifferentialDrivetrainSim.State.kX));
sim.getState(DifferentialDrivetrainSim.State.kX),
0.05);
assertEquals(
groundTruthX.get(DifferentialDrivetrainSim.State.kY.value, 0),
sim.getState(DifferentialDrivetrainSim.State.kY));
sim.getState(DifferentialDrivetrainSim.State.kY),
0.05);
assertEquals(
groundTruthX.get(DifferentialDrivetrainSim.State.kHeading.value, 0),
sim.getState(DifferentialDrivetrainSim.State.kHeading));
sim.getState(DifferentialDrivetrainSim.State.kHeading),
0.01);
}
@Test