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Clean up unit UDL usage (#6961)

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This commit is contained in:
Tyler Veness
2024-08-14 10:44:00 -07:00
committed by GitHub
parent 70fa41c69e
commit 8e0d9ac805
25 changed files with 57 additions and 77 deletions
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4
wpimath/src/test/native/cpp/controller/ControlAffinePlantInversionFeedforwardTest.cpp
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@@ -25,8 +25,8 @@ TEST(ControlAffinePlantInversionFeedforwardTest, Calculate) {
std::function<Vectord<2>(const Vectord<2>&, const Vectord<1>&)>
modelDynamics = [](auto& x, auto& u) { return Dynamics(x, u); };
frc::ControlAffinePlantInversionFeedforward<2, 1> feedforward{
modelDynamics, units::second_t{0.02}};
frc::ControlAffinePlantInversionFeedforward<2, 1> feedforward{modelDynamics,
20_ms};
Vectord<2> r{2, 2};
Vectord<2> nextR{3, 3};

2
wpimath/src/test/native/cpp/controller/HolonomicDriveControllerTest.cpp
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@@ -36,7 +36,7 @@ TEST(HolonomicDriveControllerTest, ReachesReference) {
auto trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
waypoints, {8.0_mps, 4.0_mps_sq});
constexpr auto kDt = 0.02_s;
constexpr units::second_t kDt = 20_ms;
auto totalTime = trajectory.TotalTime();
for (size_t i = 0; i < (totalTime / kDt).value(); ++i) {
auto state = trajectory.Sample(kDt * i);

2
wpimath/src/test/native/cpp/controller/LTVDifferentialDriveControllerTest.cpp
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@@ -62,7 +62,7 @@ frc::Vectord<5> Dynamics(const frc::Vectord<5>& x, const frc::Vectord<2>& u) {
}
TEST(LTVDifferentialDriveControllerTest, ReachesReference) {
constexpr auto kDt = 0.02_s;
constexpr units::second_t kDt = 20_ms;
frc::LTVDifferentialDriveController controller{
plant, kTrackwidth, {0.0625, 0.125, 2.5, 0.95, 0.95}, {12.0, 12.0}, kDt};

2
wpimath/src/test/native/cpp/controller/LTVUnicycleControllerTest.cpp
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@@ -17,7 +17,7 @@ static constexpr units::radian_t kAngularTolerance{2.0 * std::numbers::pi /
180.0};
TEST(LTVUnicycleControllerTest, ReachesReference) {
constexpr auto kDt = 0.02_s;
constexpr units::second_t kDt = 20_ms;
frc::LTVUnicycleController controller{{0.0625, 0.125, 2.5}, {4.0, 4.0}, kDt};
frc::Pose2d robotPose{2.7_m, 23_m, 0_deg};

4
wpimath/src/test/native/cpp/controller/LinearQuadraticRegulatorTest.cpp
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@@ -180,9 +180,9 @@ TEST(LinearQuadraticRegulatorTest, LatencyCompensate) {
return frc::LinearSystemId::ElevatorSystem(motors, m, r, G).Slice(0);
}();
LinearQuadraticRegulator<2, 1> controller{plant, {0.1, 0.2}, {12.0}, 0.02_s};
LinearQuadraticRegulator<2, 1> controller{plant, {0.1, 0.2}, {12.0}, 20_ms};
controller.LatencyCompensate(plant, 0.02_s, 0.01_s);
controller.LatencyCompensate(plant, 20_ms, 10_ms);
EXPECT_NEAR(8.97115941, controller.K(0, 0), 1e-3);
EXPECT_NEAR(0.07904881, controller.K(0, 1), 1e-3);

2
wpimath/src/test/native/cpp/controller/RamseteControllerTest.cpp
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@@ -29,7 +29,7 @@ TEST(RamseteControllerTest, ReachesReference) {
auto trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
waypoints, {8.8_mps, 0.1_mps_sq});
constexpr auto kDt = 0.02_s;
constexpr units::second_t kDt = 20_ms;
auto totalTime = trajectory.TotalTime();
for (size_t i = 0; i < (totalTime / kDt).value(); ++i) {
auto state = trajectory.Sample(kDt * i);