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Merge branch 'main' into 2027

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This commit is contained in:
Peter Johnson
2024-12-14 10:45:32 -08:00
parent 6ba7189373 4bca79b9af
commit 945d416d07
43 changed files with 768 additions and 1278 deletions
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11
wpimath/src/test/java/edu/wpi/first/math/kinematics/ChassisSpeedsTest.java
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@@ -20,11 +20,10 @@ class ChassisSpeedsTest {
@Test
void testDiscretize() {
final var target = new ChassisSpeeds(1.0, 0.0, 0.5);
final var speeds = new ChassisSpeeds(1.0, 0.0, 0.5);
final var duration = 1.0;
final var dt = 0.01;
speeds.discretize(duration);
final var speeds = ChassisSpeeds.discretize(target, duration);
final var twist =
new Twist2d(
speeds.vxMetersPerSecond * dt,
@@ -62,8 +61,8 @@ class ChassisSpeedsTest {
@Test
void testFromFieldRelativeSpeeds() {
final var chassisSpeeds = new ChassisSpeeds(1.0, 0.0, 0.5);
chassisSpeeds.toRobotRelativeSpeeds(Rotation2d.kCW_Pi_2);
final var chassisSpeeds =
ChassisSpeeds.fromFieldRelativeSpeeds(1.0, 0.0, 0.5, Rotation2d.kCW_Pi_2);
assertAll(
() -> assertEquals(0.0, chassisSpeeds.vxMetersPerSecond, kEpsilon),
@@ -73,8 +72,8 @@ class ChassisSpeedsTest {
@Test
void testFromRobotRelativeSpeeds() {
final var chassisSpeeds = new ChassisSpeeds(1.0, 0.0, 0.5);
chassisSpeeds.toFieldRelativeSpeeds(Rotation2d.fromDegrees(45.0));
final var chassisSpeeds =
ChassisSpeeds.fromRobotRelativeSpeeds(1.0, 0.0, 0.5, Rotation2d.fromDegrees(45.0));
assertAll(
() -> assertEquals(1.0 / Math.sqrt(2.0), chassisSpeeds.vxMetersPerSecond, kEpsilon),

27
wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/MecanumDriveMotorVoltagesProtoTest.java
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@@ -1,27 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.math.kinematics.proto;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.math.kinematics.MecanumDriveMotorVoltages;
import edu.wpi.first.math.proto.Kinematics.ProtobufMecanumDriveMotorVoltages;
import edu.wpi.first.wpilibj.ProtoTestBase;
@SuppressWarnings("PMD.TestClassWithoutTestCases")
class MecanumDriveMotorVoltagesProtoTest
extends ProtoTestBase<MecanumDriveMotorVoltages, ProtobufMecanumDriveMotorVoltages> {
MecanumDriveMotorVoltagesProtoTest() {
super(new MecanumDriveMotorVoltages(1.2, 3.1, 2.5, -0.1), MecanumDriveMotorVoltages.proto);
}
@Override
public void checkEquals(MecanumDriveMotorVoltages testData, MecanumDriveMotorVoltages data) {
assertEquals(testData.frontLeftVoltage, data.frontLeftVoltage);
assertEquals(testData.frontRightVoltage, data.frontRightVoltage);
assertEquals(testData.rearLeftVoltage, data.rearLeftVoltage);
assertEquals(testData.rearRightVoltage, data.rearRightVoltage);
}
}

25
wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/MecanumDriveMotorVoltagesStructTest.java
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@@ -1,25 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.math.kinematics.struct;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.math.kinematics.MecanumDriveMotorVoltages;
import edu.wpi.first.wpilibj.StructTestBase;
@SuppressWarnings("PMD.TestClassWithoutTestCases")
class MecanumDriveMotorVoltagesStructTest extends StructTestBase<MecanumDriveMotorVoltages> {
MecanumDriveMotorVoltagesStructTest() {
super(new MecanumDriveMotorVoltages(1.2, 3.1, 2.5, -0.1), MecanumDriveMotorVoltages.struct);
}
@Override
public void checkEquals(MecanumDriveMotorVoltages testData, MecanumDriveMotorVoltages data) {
assertEquals(testData.frontLeftVoltage, data.frontLeftVoltage);
assertEquals(testData.frontRightVoltage, data.frontRightVoltage);
assertEquals(testData.rearLeftVoltage, data.rearLeftVoltage);
assertEquals(testData.rearRightVoltage, data.rearRightVoltage);
}
}