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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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wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSimTest.java
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@@ -65,7 +65,7 @@ class DifferentialDrivetrainSimTest {
for (double t = 0; t < traj.getTotalTimeSeconds(); t += 0.020) {
var state = traj.sample(0.020);
var ramseteOut = ramsete.calculate(sim.getEstimatedPosition(), state);
var ramseteOut = ramsete.calculate(sim.getPose(), state);
var wheelSpeeds = kinematics.toWheelSpeeds(ramseteOut);
@@ -141,6 +141,6 @@ class DifferentialDrivetrainSimTest {
sim.update(0.020);
}
assertTrue(Math.abs(sim.getEstimatedPosition().getTranslation().getNorm()) < 100);
assertTrue(Math.abs(sim.getPose().getTranslation().getNorm()) < 100);
}
}