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[wpilib] Add C++ diff-drive sim tests and fix Java test name (#2729)

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This commit is contained in:
Prateek Machiraju
2020-09-24 23:05:27 -04:00
committed by GitHub
parent b7b3dcf3ea
commit 8ab47cb075
2 changed files with 114 additions and 2 deletions
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3
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSimTest.java
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@@ -121,7 +121,7 @@ class DifferentialDrivetrainSimTest {
}
@Test
public void testWHeee() {
public void testModelStability() {
var motor = DCMotor.getNEO(2);
var plant = LinearSystemId.createDrivetrainVelocitySystem(
motor,
@@ -140,7 +140,6 @@ class DifferentialDrivetrainSimTest {
sim.update(0.020);
}
System.out.println(sim.getEstimatedPosition());
assertTrue(Math.abs(sim.getEstimatedPosition().getX()) < 10000);
}
}