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

[sysid] Fix position feedback latency compensation (#6392)

Browse Source
This commit is contained in:
Dean Brettle
2024-02-23 14:13:43 -08:00
committed by GitHub
parent ca6e307ea5
commit 8b669330eb
2 changed files with 30 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

27
sysid/src/test/native/cpp/analysis/FeedbackAnalysisTest.cpp
View File

@@ -103,3 +103,30 @@ TEST(FeedbackAnalysisTest, VelocityREVConversion) {
EXPECT_NEAR(Kp, 0.00241 / 3, 0.005);
EXPECT_NEAR(Kd, 0.00, 0.05);
}
TEST(FeedbackAnalysisTest, Position) {
auto Kv = 3.060;
auto Ka = 0.327;
sysid::LQRParameters params{1, 1.5, 7};
auto [Kp, Kd] = sysid::CalculatePositionFeedbackGains(
sysid::presets::kDefault, params, Kv, Ka);
EXPECT_NEAR(Kp, 6.41, 0.05);
EXPECT_NEAR(Kd, 2.48, 0.05);
}
TEST(FeedbackAnalysisTest, PositionWithLatencyCompensation) {
auto Kv = 3.060;
auto Ka = 0.327;
sysid::LQRParameters params{1, 1.5, 7};
sysid::FeedbackControllerPreset preset{sysid::presets::kDefault};
preset.measurementDelay = 10_ms;
auto [Kp, Kd] = sysid::CalculatePositionFeedbackGains(preset, params, Kv, Ka);
EXPECT_NEAR(Kp, 5.92, 0.05);
EXPECT_NEAR(Kd, 2.12, 0.05);
}