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[sysid] Load DataLog files directly for analysis (#6103)

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Co-authored-by: Oblarg <emichaelbrnett@gmail.com>
This commit is contained in:
Peter Johnson
2024-01-05 16:24:31 -08:00
committed by GitHub
parent f94e3d81b9
commit 7c26bc70ab
33 changed files with 1086 additions and 2013 deletions
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48
sysid/src/test/native/cpp/analysis/FeedforwardAnalysisTest.cpp
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@@ -241,54 +241,6 @@ TEST(FeedforwardAnalysisTest, Arm) {
}
}
TEST(FeedforwardAnalysisTest, Drivetrain) {
{
constexpr double Ks = 1.01;
constexpr double Kv = 3.060;
constexpr double Ka = 0.327;
sysid::SimpleMotorSim model{Ks, Kv, Ka};
RunTests(model, sysid::analysis::kDrivetrain, {{Ks, Kv, Ka}},
{{8e-3, 8e-3, 8e-3}});
}
{
constexpr double Ks = 0.547;
constexpr double Kv = 0.0693;
constexpr double Ka = 0.1170;
sysid::SimpleMotorSim model{Ks, Kv, Ka};
RunTests(model, sysid::analysis::kDrivetrain, {{Ks, Kv, Ka}},
{{8e-3, 8e-3, 8e-3}});
}
}
TEST(FeedforwardAnalysisTest, DrivetrainAngular) {
{
constexpr double Ks = 1.01;
constexpr double Kv = 3.060;
constexpr double Ka = 0.327;
sysid::SimpleMotorSim model{Ks, Kv, Ka};
RunTests(model, sysid::analysis::kDrivetrainAngular, {{Ks, Kv, Ka}},
{{8e-3, 8e-3, 8e-3}});
}
{
constexpr double Ks = 0.547;
constexpr double Kv = 0.0693;
constexpr double Ka = 0.1170;
sysid::SimpleMotorSim model{Ks, Kv, Ka};
RunTests(model, sysid::analysis::kDrivetrainAngular, {{Ks, Kv, Ka}},
{{8e-3, 8e-3, 8e-3}});
}
}
TEST(FeedforwardAnalysisTest, Elevator) {
{
constexpr double Ks = 1.01;