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

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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
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6
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSimTest.java
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@@ -47,7 +47,7 @@ class DifferentialDrivetrainSimTest {
var kinematics = new DifferentialDriveKinematics(Units.inchesToMeters(24));
var sim = new DifferentialDrivetrainSim(plant,
motor, 1, kinematics.trackWidthMeters, Units.inchesToMeters(2));
motor, 1, kinematics.trackWidthMeters, Units.inchesToMeters(2), VecBuilder.fill(0, 0, 0.0001, 0.1, 0.1, 0.005, 0.005));
var feedforward = new LinearPlantInversionFeedforward<>(plant, 0.020);
var ramsete = new RamseteController();
@@ -99,7 +99,7 @@ class DifferentialDrivetrainSimTest {
0.5,
1.0);
var kinematics = new DifferentialDriveKinematics(Units.inchesToMeters(24));
var sim = new DifferentialDrivetrainSim(plant, motor, 1, kinematics.trackWidthMeters, Units.inchesToMeters(2));
var sim = new DifferentialDrivetrainSim(plant, motor, 1, kinematics.trackWidthMeters, Units.inchesToMeters(2), null);
sim.setInputs(-12, -12);
for (int i = 0; i < 10; i++) {
@@ -132,7 +132,7 @@ class DifferentialDrivetrainSimTest {
5.0);
var kinematics = new DifferentialDriveKinematics(Units.inchesToMeters(24));
var sim = new DifferentialDrivetrainSim(plant, motor, 5, kinematics.trackWidthMeters, Units.inchesToMeters(2));
var sim = new DifferentialDrivetrainSim(plant, motor, 5, kinematics.trackWidthMeters, Units.inchesToMeters(2), VecBuilder.fill(0, 0, 0.0001, 0.1, 0.1, 0.005, 0.005));
sim.setInputs(2, 4);