Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpilib] Add noise to Differential Drive simulator (#2903)

Browse Source 
Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
This commit is contained in:
Matt
2020-12-04 18:46:50 -08:00
committed by GitHub
parent 387f56cb7b
commit 963ad5c255
10 changed files with 253 additions and 93 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
wpilibc/src/test/native/cpp/simulation/DifferentialDriveSimTest.cpp
View File

@@ -26,7 +26,9 @@ TEST(DifferentialDriveSim, Convergence) {
motor, 50_kg, 2_in, 12_in, 0.5_kg_sq_m, 1.0);
frc::DifferentialDriveKinematics kinematics{24_in};
frc::sim::DifferentialDrivetrainSim sim{plant, 24_in, motor, 1.0, 2_in};
frc::sim::DifferentialDrivetrainSim sim{
plant, 24_in, motor,
1.0, 2_in, {0.001, 0.001, 0.0001, 0.1, 0.1, 0.005, 0.005}};
frc::LinearPlantInversionFeedforward feedforward{plant, 20_ms};
frc::RamseteController ramsete;
@@ -64,9 +66,10 @@ TEST(DifferentialDriveSim, Convergence) {
groundTruthX, voltages, 20_ms);
}
EXPECT_NEAR(groundTruthX(0, 0), sim.GetState(0), 1E-6);
EXPECT_NEAR(groundTruthX(1, 0), sim.GetState(1), 1E-6);
EXPECT_NEAR(groundTruthX(2, 0), sim.GetState(2), 1E-6);
EXPECT_NEAR(groundTruthX(0, 0), sim.GetPose().X().to<double>(), 0.01);
EXPECT_NEAR(groundTruthX(1, 0), sim.GetPose().Y().to<double>(), 0.01);
EXPECT_NEAR(groundTruthX(2, 0), sim.GetHeading().Radians().to<double>(),
0.01);
}
TEST(DifferentialDriveSim, Current) {