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[wpilib] Clean up DifferentialDrivetrainSim API (#2747)

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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Prateek Machiraju
2020-09-27 16:25:17 -04:00
committed by GitHub
parent 1320691eb4
commit 9725aff83b
5 changed files with 26 additions and 22 deletions
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5
wpilibc/src/test/native/cpp/simulation/DifferentialDriveSimTest.cpp
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@@ -46,7 +46,7 @@ TEST(DifferentialDriveSim, Convergence) {
for (double t = 0; t < trajectory.TotalTime().to<double>(); t += 0.02) {
auto state = trajectory.Sample(20_ms);
auto ramseteOut = ramsete.Calculate(sim.GetEstimatedPosition(), state);
auto ramseteOut = ramsete.Calculate(sim.GetPose(), state);
auto [l, r] = kinematics.ToWheelSpeeds(ramseteOut);
auto voltages = feedforward.Calculate(
@@ -111,6 +111,5 @@ TEST(DifferentialDriveSim, ModelStability) {
sim.Update(20_ms);
}
EXPECT_LT(units::math::abs(sim.GetEstimatedPosition().Translation().Norm()),
100_m);
EXPECT_LT(units::math::abs(sim.GetPose().Translation().Norm()), 100_m);
}