Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-24 01:31:46 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Refactor TrapezoidProfile API (#5457)

Browse Source
This commit is contained in:
Gold856
2023-07-19 20:25:10 -04:00
committed by GitHub
parent 72a4543493
commit 86e91e6724
24 changed files with 492 additions and 184 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
wpimath/src/test/java/edu/wpi/first/math/controller/LinearSystemLoopTest.java
View File

@@ -58,12 +58,12 @@ class LinearSystemLoopTest {
TrapezoidProfile profile;
TrapezoidProfile.State state;
for (int i = 0; i < 1000; i++) {
profile =
new TrapezoidProfile(
constraints,
profile = new TrapezoidProfile(constraints);
state =
profile.calculate(
kDt,
new TrapezoidProfile.State(m_loop.getXHat(0), m_loop.getXHat(1)),
new TrapezoidProfile.State(references.get(0, 0), references.get(1, 0)));
state = profile.calculate(kDt);
m_loop.setNextR(VecBuilder.fill(state.position, state.velocity));
updateTwoState(m_plant, m_loop, (random.nextGaussian()) * kPositionStddev);