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

[wpimath] Add full state support to LinearSystemId functions (#6554)

Browse Source 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Nicholas Armstrong
2024-05-15 09:23:22 -04:00
committed by GitHub
parent 7fbbecb5b7
commit 7fc17811fa
29 changed files with 343 additions and 88 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp
View File

@@ -74,8 +74,10 @@ TEST(ElevatorSimTest, Stability) {
sim.Update(20_ms);
}
frc::LinearSystem<2, 1, 1> system = frc::LinearSystemId::ElevatorSystem(
frc::DCMotor::Vex775Pro(4), 4_kg, 0.5_in, 100);
frc::LinearSystem<2, 1, 1> system =
frc::LinearSystemId::ElevatorSystem(frc::DCMotor::Vex775Pro(4), 4_kg,
0.5_in, 100)
.Slice(0);
EXPECT_NEAR_UNITS(
units::meter_t{system.CalculateX(frc::Vectord<2>{0.0, 0.0},
frc::Vectord<1>{12.0}, 20_ms * 50)(0)},