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[wpimath] LinearSystemId: Don't throw if Kv = 0 (#6424)

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That's just a system with no back-EMF.
This commit is contained in:
Tyler Veness
2024-03-10 08:11:18 -07:00
committed by GitHub
parent 7bd8c44570
commit 973bb55e66
2 changed files with 18 additions and 18 deletions
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18
wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
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@@ -135,14 +135,14 @@ public final class LinearSystemId {
* <p>u = K_v v + K_a a
*
* @param kV The velocity gain, in volts/(unit/sec)
* @param kA The acceleration gain, in volts/(unit/sec^2)
* @param kA The acceleration gain, in volts/(unit/sec²)
* @return A LinearSystem representing the given characterized constants.
* @throws IllegalArgumentException if kV &lt;= 0 or kA &lt;= 0.
* @throws IllegalArgumentException if kV &lt; 0 or kA &lt;= 0.
* @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
*/
public static LinearSystem<N2, N1, N2> createDCMotorSystem(double kV, double kA) {
if (kV <= 0.0) {
throw new IllegalArgumentException("Kv must be greater than zero.");
if (kV < 0.0) {
throw new IllegalArgumentException("Kv must be greater than or equal to zero.");
}
if (kA <= 0.0) {
throw new IllegalArgumentException("Ka must be greater than zero.");
@@ -256,14 +256,14 @@ public final class LinearSystemId {
* <p>u = K_v v + K_a a
*
* @param kV The velocity gain, in volts/(unit/sec)
* @param kA The acceleration gain, in volts/(unit/sec^2)
* @param kA The acceleration gain, in volts/(unit/sec²)
* @return A LinearSystem representing the given characterized constants.
* @throws IllegalArgumentException if kV &lt;= 0 or kA &lt;= 0.
* @throws IllegalArgumentException if kV &lt; 0 or kA &lt;= 0.
* @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
*/
public static LinearSystem<N1, N1, N1> identifyVelocitySystem(double kV, double kA) {
if (kV <= 0.0) {
throw new IllegalArgumentException("Kv must be greater than zero.");
throw new IllegalArgumentException("Kv must be greater than or equal to zero.");
}
if (kA <= 0.0) {
throw new IllegalArgumentException("Ka must be greater than zero.");
@@ -291,12 +291,12 @@ public final class LinearSystemId {
* @param kV The velocity gain, in volts/(unit/sec)
* @param kA The acceleration gain, in volts/(unit/sec²)
* @return A LinearSystem representing the given characterized constants.
* @throws IllegalArgumentException if kV &lt;= 0 or kA &lt;= 0.
* @throws IllegalArgumentException if kV &lt; 0 or kA &lt;= 0.
* @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
*/
public static LinearSystem<N2, N1, N1> identifyPositionSystem(double kV, double kA) {
if (kV <= 0.0) {
throw new IllegalArgumentException("Kv must be greater than zero.");
throw new IllegalArgumentException("Kv must be greater than or equal to zero.");
}
if (kA <= 0.0) {
throw new IllegalArgumentException("Ka must be greater than zero.");