Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-24 01:31:46 +00:00
Code Issues Packages Projects Releases Wiki Activity

SCRIPT namespace replacements

Browse Source
This commit is contained in:
PJ Reiniger
2025-11-07 20:00:05 -05:00
committed by Peter Johnson
parent ae6c043632
commit 9aca8e0fd6
2622 changed files with 22275 additions and 22275 deletions
Download Patch File Download Diff File Expand all files Collapse all files

124
wpilibc/src/test/native/cpp/drive/DifferentialDriveTest.cpp
View File

@@ -9,240 +9,240 @@
TEST(DifferentialDriveTest, ArcadeDriveIK) {
// Forward
auto speeds = frc::DifferentialDrive::ArcadeDriveIK(1.0, 0.0, false);
auto speeds = wpi::DifferentialDrive::ArcadeDriveIK(1.0, 0.0, false);
EXPECT_DOUBLE_EQ(1.0, speeds.left);
EXPECT_DOUBLE_EQ(1.0, speeds.right);
// Forward left turn
speeds = frc::DifferentialDrive::ArcadeDriveIK(0.5, 0.5, false);
speeds = wpi::DifferentialDrive::ArcadeDriveIK(0.5, 0.5, false);
EXPECT_DOUBLE_EQ(0.0, speeds.left);
EXPECT_DOUBLE_EQ(0.5, speeds.right);
// Forward right turn
speeds = frc::DifferentialDrive::ArcadeDriveIK(0.5, -0.5, false);
speeds = wpi::DifferentialDrive::ArcadeDriveIK(0.5, -0.5, false);
EXPECT_DOUBLE_EQ(0.5, speeds.left);
EXPECT_DOUBLE_EQ(0.0, speeds.right);
// Backward
speeds = frc::DifferentialDrive::ArcadeDriveIK(-1.0, 0.0, false);
speeds = wpi::DifferentialDrive::ArcadeDriveIK(-1.0, 0.0, false);
EXPECT_DOUBLE_EQ(-1.0, speeds.left);
EXPECT_DOUBLE_EQ(-1.0, speeds.right);
// Backward left turn
speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.5, 0.5, false);
speeds = wpi::DifferentialDrive::ArcadeDriveIK(-0.5, 0.5, false);
EXPECT_DOUBLE_EQ(-0.5, speeds.left);
EXPECT_DOUBLE_EQ(0.0, speeds.right);
// Backward right turn
speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.5, -0.5, false);
speeds = wpi::DifferentialDrive::ArcadeDriveIK(-0.5, -0.5, false);
EXPECT_DOUBLE_EQ(0.0, speeds.left);
EXPECT_DOUBLE_EQ(-0.5, speeds.right);
// Left turn (xSpeed with negative sign)
speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.0, 1.0, false);
speeds = wpi::DifferentialDrive::ArcadeDriveIK(-0.0, 1.0, false);
EXPECT_DOUBLE_EQ(-1.0, speeds.left);
EXPECT_DOUBLE_EQ(1.0, speeds.right);
// Left turn (xSpeed with positive sign)
speeds = frc::DifferentialDrive::ArcadeDriveIK(0.0, 1.0, false);
speeds = wpi::DifferentialDrive::ArcadeDriveIK(0.0, 1.0, false);
EXPECT_DOUBLE_EQ(-1.0, speeds.left);
EXPECT_DOUBLE_EQ(1.0, speeds.right);
// Right turn (xSpeed with negative sign)
speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.0, -1.0, false);
speeds = wpi::DifferentialDrive::ArcadeDriveIK(-0.0, -1.0, false);
EXPECT_DOUBLE_EQ(1.0, speeds.left);
EXPECT_DOUBLE_EQ(-1.0, speeds.right);
// Right turn (xSpeed with positive sign)
speeds = frc::DifferentialDrive::ArcadeDriveIK(0.0, -1.0, false);
speeds = wpi::DifferentialDrive::ArcadeDriveIK(0.0, -1.0, false);
EXPECT_DOUBLE_EQ(1.0, speeds.left);
EXPECT_DOUBLE_EQ(-1.0, speeds.right);
}
TEST(DifferentialDriveTest, ArcadeDriveIKSquared) {
// Forward
auto speeds = frc::DifferentialDrive::ArcadeDriveIK(1.0, 0.0, true);
auto speeds = wpi::DifferentialDrive::ArcadeDriveIK(1.0, 0.0, true);
EXPECT_DOUBLE_EQ(1.0, speeds.left);
EXPECT_DOUBLE_EQ(1.0, speeds.right);
// Forward left turn
speeds = frc::DifferentialDrive::ArcadeDriveIK(0.5, 0.5, true);
speeds = wpi::DifferentialDrive::ArcadeDriveIK(0.5, 0.5, true);
EXPECT_DOUBLE_EQ(0.0, speeds.left);
EXPECT_DOUBLE_EQ(0.25, speeds.right);
// Forward right turn
speeds = frc::DifferentialDrive::ArcadeDriveIK(0.5, -0.5, true);
speeds = wpi::DifferentialDrive::ArcadeDriveIK(0.5, -0.5, true);
EXPECT_DOUBLE_EQ(0.25, speeds.left);
EXPECT_DOUBLE_EQ(0.0, speeds.right);
// Backward
speeds = frc::DifferentialDrive::ArcadeDriveIK(-1.0, 0.0, true);
speeds = wpi::DifferentialDrive::ArcadeDriveIK(-1.0, 0.0, true);
EXPECT_DOUBLE_EQ(-1.0, speeds.left);
EXPECT_DOUBLE_EQ(-1.0, speeds.right);
// Backward left turn
speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.5, 0.5, true);
speeds = wpi::DifferentialDrive::ArcadeDriveIK(-0.5, 0.5, true);
EXPECT_DOUBLE_EQ(-0.25, speeds.left);
EXPECT_DOUBLE_EQ(0.0, speeds.right);
// Backward right turn
speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.5, -0.5, true);
speeds = wpi::DifferentialDrive::ArcadeDriveIK(-0.5, -0.5, true);
EXPECT_DOUBLE_EQ(0.0, speeds.left);
EXPECT_DOUBLE_EQ(-0.25, speeds.right);
// Left turn (xSpeed with negative sign)
speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.0, 1.0, false);
speeds = wpi::DifferentialDrive::ArcadeDriveIK(-0.0, 1.0, false);
EXPECT_DOUBLE_EQ(-1.0, speeds.left);
EXPECT_DOUBLE_EQ(1.0, speeds.right);
// Left turn (xSpeed with positive sign)
speeds = frc::DifferentialDrive::ArcadeDriveIK(0.0, 1.0, false);
speeds = wpi::DifferentialDrive::ArcadeDriveIK(0.0, 1.0, false);
EXPECT_DOUBLE_EQ(-1.0, speeds.left);
EXPECT_DOUBLE_EQ(1.0, speeds.right);
// Right turn (xSpeed with negative sign)
speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.0, -1.0, false);
speeds = wpi::DifferentialDrive::ArcadeDriveIK(-0.0, -1.0, false);
EXPECT_DOUBLE_EQ(1.0, speeds.left);
EXPECT_DOUBLE_EQ(-1.0, speeds.right);
// Right turn (xSpeed with positive sign)
speeds = frc::DifferentialDrive::ArcadeDriveIK(0.0, -1.0, false);
speeds = wpi::DifferentialDrive::ArcadeDriveIK(0.0, -1.0, false);
EXPECT_DOUBLE_EQ(1.0, speeds.left);
EXPECT_DOUBLE_EQ(-1.0, speeds.right);
}
TEST(DifferentialDriveTest, CurvatureDriveIK) {
// Forward
auto speeds = frc::DifferentialDrive::CurvatureDriveIK(1.0, 0.0, false);
auto speeds = wpi::DifferentialDrive::CurvatureDriveIK(1.0, 0.0, false);
EXPECT_DOUBLE_EQ(1.0, speeds.left);
EXPECT_DOUBLE_EQ(1.0, speeds.right);
// Forward left turn
speeds = frc::DifferentialDrive::CurvatureDriveIK(0.5, 0.5, false);
speeds = wpi::DifferentialDrive::CurvatureDriveIK(0.5, 0.5, false);
EXPECT_DOUBLE_EQ(0.25, speeds.left);
EXPECT_DOUBLE_EQ(0.75, speeds.right);
// Forward right turn
speeds = frc::DifferentialDrive::CurvatureDriveIK(0.5, -0.5, false);
speeds = wpi::DifferentialDrive::CurvatureDriveIK(0.5, -0.5, false);
EXPECT_DOUBLE_EQ(0.75, speeds.left);
EXPECT_DOUBLE_EQ(0.25, speeds.right);
// Backward
speeds = frc::DifferentialDrive::CurvatureDriveIK(-1.0, 0.0, false);
speeds = wpi::DifferentialDrive::CurvatureDriveIK(-1.0, 0.0, false);
EXPECT_DOUBLE_EQ(-1.0, speeds.left);
EXPECT_DOUBLE_EQ(-1.0, speeds.right);
// Backward left turn
speeds = frc::DifferentialDrive::CurvatureDriveIK(-0.5, 0.5, false);
speeds = wpi::DifferentialDrive::CurvatureDriveIK(-0.5, 0.5, false);
EXPECT_DOUBLE_EQ(-0.75, speeds.left);
EXPECT_DOUBLE_EQ(-0.25, speeds.right);
// Backward right turn
speeds = frc::DifferentialDrive::CurvatureDriveIK(-0.5, -0.5, false);
speeds = wpi::DifferentialDrive::CurvatureDriveIK(-0.5, -0.5, false);
EXPECT_DOUBLE_EQ(-0.25, speeds.left);
EXPECT_DOUBLE_EQ(-0.75, speeds.right);
}
TEST(DifferentialDriveTest, CurvatureDriveIKTurnInPlace) {
// Forward
auto speeds = frc::DifferentialDrive::CurvatureDriveIK(1.0, 0.0, true);
auto speeds = wpi::DifferentialDrive::CurvatureDriveIK(1.0, 0.0, true);
EXPECT_DOUBLE_EQ(1.0, speeds.left);
EXPECT_DOUBLE_EQ(1.0, speeds.right);
// Forward left turn
speeds = frc::DifferentialDrive::CurvatureDriveIK(0.5, 0.5, true);
speeds = wpi::DifferentialDrive::CurvatureDriveIK(0.5, 0.5, true);
EXPECT_DOUBLE_EQ(0.0, speeds.left);
EXPECT_DOUBLE_EQ(1.0, speeds.right);
// Forward right turn
speeds = frc::DifferentialDrive::CurvatureDriveIK(0.5, -0.5, true);
speeds = wpi::DifferentialDrive::CurvatureDriveIK(0.5, -0.5, true);
EXPECT_DOUBLE_EQ(1.0, speeds.left);
EXPECT_DOUBLE_EQ(0.0, speeds.right);
// Backward
speeds = frc::DifferentialDrive::CurvatureDriveIK(-1.0, 0.0, true);
speeds = wpi::DifferentialDrive::CurvatureDriveIK(-1.0, 0.0, true);
EXPECT_DOUBLE_EQ(-1.0, speeds.left);
EXPECT_DOUBLE_EQ(-1.0, speeds.right);
// Backward left turn
speeds = frc::DifferentialDrive::CurvatureDriveIK(-0.5, 0.5, true);
speeds = wpi::DifferentialDrive::CurvatureDriveIK(-0.5, 0.5, true);
EXPECT_DOUBLE_EQ(-1.0, speeds.left);
EXPECT_DOUBLE_EQ(0.0, speeds.right);
// Backward right turn
speeds = frc::DifferentialDrive::CurvatureDriveIK(-0.5, -0.5, true);
speeds = wpi::DifferentialDrive::CurvatureDriveIK(-0.5, -0.5, true);
EXPECT_DOUBLE_EQ(0.0, speeds.left);
EXPECT_DOUBLE_EQ(-1.0, speeds.right);
}
TEST(DifferentialDriveTest, TankDriveIK) {
// Forward
auto speeds = frc::DifferentialDrive::TankDriveIK(1.0, 1.0, false);
auto speeds = wpi::DifferentialDrive::TankDriveIK(1.0, 1.0, false);
EXPECT_DOUBLE_EQ(1.0, speeds.left);
EXPECT_DOUBLE_EQ(1.0, speeds.right);
// Forward left turn
speeds = frc::DifferentialDrive::TankDriveIK(0.5, 1.0, false);
speeds = wpi::DifferentialDrive::TankDriveIK(0.5, 1.0, false);
EXPECT_DOUBLE_EQ(0.5, speeds.left);
EXPECT_DOUBLE_EQ(1.0, speeds.right);
// Forward right turn
speeds = frc::DifferentialDrive::TankDriveIK(1.0, 0.5, false);
speeds = wpi::DifferentialDrive::TankDriveIK(1.0, 0.5, false);
EXPECT_DOUBLE_EQ(1.0, speeds.left);
EXPECT_DOUBLE_EQ(0.5, speeds.right);
// Backward
speeds = frc::DifferentialDrive::TankDriveIK(-1.0, -1.0, false);
speeds = wpi::DifferentialDrive::TankDriveIK(-1.0, -1.0, false);
EXPECT_DOUBLE_EQ(-1.0, speeds.left);
EXPECT_DOUBLE_EQ(-1.0, speeds.right);
// Backward left turn
speeds = frc::DifferentialDrive::TankDriveIK(-0.5, -1.0, false);
speeds = wpi::DifferentialDrive::TankDriveIK(-0.5, -1.0, false);
EXPECT_DOUBLE_EQ(-0.5, speeds.left);
EXPECT_DOUBLE_EQ(-1.0, speeds.right);
// Backward right turn
speeds = frc::DifferentialDrive::TankDriveIK(-0.5, 1.0, false);
speeds = wpi::DifferentialDrive::TankDriveIK(-0.5, 1.0, false);
EXPECT_DOUBLE_EQ(-0.5, speeds.left);
EXPECT_DOUBLE_EQ(1.0, speeds.right);
}
TEST(DifferentialDriveTest, TankDriveIKSquared) {
// Forward
auto speeds = frc::DifferentialDrive::TankDriveIK(1.0, 1.0, true);
auto speeds = wpi::DifferentialDrive::TankDriveIK(1.0, 1.0, true);
EXPECT_DOUBLE_EQ(1.0, speeds.left);
EXPECT_DOUBLE_EQ(1.0, speeds.right);
// Forward left turn
speeds = frc::DifferentialDrive::TankDriveIK(0.5, 1.0, true);
speeds = wpi::DifferentialDrive::TankDriveIK(0.5, 1.0, true);
EXPECT_DOUBLE_EQ(0.25, speeds.left);
EXPECT_DOUBLE_EQ(1.0, speeds.right);
// Forward right turn
speeds = frc::DifferentialDrive::TankDriveIK(1.0, 0.5, true);
speeds = wpi::DifferentialDrive::TankDriveIK(1.0, 0.5, true);
EXPECT_DOUBLE_EQ(1.0, speeds.left);
EXPECT_DOUBLE_EQ(0.25, speeds.right);
// Backward
speeds = frc::DifferentialDrive::TankDriveIK(-1.0, -1.0, true);
speeds = wpi::DifferentialDrive::TankDriveIK(-1.0, -1.0, true);
EXPECT_DOUBLE_EQ(-1.0, speeds.left);
EXPECT_DOUBLE_EQ(-1.0, speeds.right);
// Backward left turn
speeds = frc::DifferentialDrive::TankDriveIK(-0.5, -1.0, true);
speeds = wpi::DifferentialDrive::TankDriveIK(-0.5, -1.0, true);
EXPECT_DOUBLE_EQ(-0.25, speeds.left);
EXPECT_DOUBLE_EQ(-1.0, speeds.right);
// Backward right turn
speeds = frc::DifferentialDrive::TankDriveIK(-1.0, -0.5, true);
speeds = wpi::DifferentialDrive::TankDriveIK(-1.0, -0.5, true);
EXPECT_DOUBLE_EQ(-1.0, speeds.left);
EXPECT_DOUBLE_EQ(-0.25, speeds.right);
}
TEST(DifferentialDriveTest, ArcadeDrive) {
frc::MockPWMMotorController left;
frc::MockPWMMotorController right;
frc::DifferentialDrive drive{[&](double output) { left.Set(output); },
wpi::MockPWMMotorController left;
wpi::MockPWMMotorController right;
wpi::DifferentialDrive drive{[&](double output) { left.Set(output); },
[&](double output) { right.Set(output); }};
drive.SetDeadband(0.0);
@@ -278,9 +278,9 @@ TEST(DifferentialDriveTest, ArcadeDrive) {
}
TEST(DifferentialDriveTest, ArcadeDriveSquared) {
frc::MockPWMMotorController left;
frc::MockPWMMotorController right;
frc::DifferentialDrive drive{[&](double output) { left.Set(output); },
wpi::MockPWMMotorController left;
wpi::MockPWMMotorController right;
wpi::DifferentialDrive drive{[&](double output) { left.Set(output); },
[&](double output) { right.Set(output); }};
drive.SetDeadband(0.0);
@@ -316,9 +316,9 @@ TEST(DifferentialDriveTest, ArcadeDriveSquared) {
}
TEST(DifferentialDriveTest, CurvatureDrive) {
frc::MockPWMMotorController left;
frc::MockPWMMotorController right;
frc::DifferentialDrive drive{[&](double output) { left.Set(output); },
wpi::MockPWMMotorController left;
wpi::MockPWMMotorController right;
wpi::DifferentialDrive drive{[&](double output) { left.Set(output); },
[&](double output) { right.Set(output); }};
drive.SetDeadband(0.0);
@@ -354,9 +354,9 @@ TEST(DifferentialDriveTest, CurvatureDrive) {
}
TEST(DifferentialDriveTest, CurvatureDriveTurnInPlace) {
frc::MockPWMMotorController left;
frc::MockPWMMotorController right;
frc::DifferentialDrive drive{[&](double output) { left.Set(output); },
wpi::MockPWMMotorController left;
wpi::MockPWMMotorController right;
wpi::DifferentialDrive drive{[&](double output) { left.Set(output); },
[&](double output) { right.Set(output); }};
drive.SetDeadband(0.0);
@@ -392,9 +392,9 @@ TEST(DifferentialDriveTest, CurvatureDriveTurnInPlace) {
}
TEST(DifferentialDriveTest, TankDrive) {
frc::MockPWMMotorController left;
frc::MockPWMMotorController right;
frc::DifferentialDrive drive{[&](double output) { left.Set(output); },
wpi::MockPWMMotorController left;
wpi::MockPWMMotorController right;
wpi::DifferentialDrive drive{[&](double output) { left.Set(output); },
[&](double output) { right.Set(output); }};
drive.SetDeadband(0.0);
@@ -430,9 +430,9 @@ TEST(DifferentialDriveTest, TankDrive) {
}
TEST(DifferentialDriveTest, TankDriveSquared) {
frc::MockPWMMotorController left;
frc::MockPWMMotorController right;
frc::DifferentialDrive drive{[&](double output) { left.Set(output); },
wpi::MockPWMMotorController left;
wpi::MockPWMMotorController right;
wpi::DifferentialDrive drive{[&](double output) { left.Set(output); },
[&](double output) { right.Set(output); }};
drive.SetDeadband(0.0);

50
wpilibc/src/test/native/cpp/drive/MecanumDriveTest.cpp
View File

@@ -9,35 +9,35 @@
TEST(MecanumDriveTest, CartesianIK) {
// Forward
auto speeds = frc::MecanumDrive::DriveCartesianIK(1.0, 0.0, 0.0);
auto speeds = wpi::MecanumDrive::DriveCartesianIK(1.0, 0.0, 0.0);
EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
// Left
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, -1.0, 0.0);
speeds = wpi::MecanumDrive::DriveCartesianIK(0.0, -1.0, 0.0);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearRight);
// Right
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 1.0, 0.0);
speeds = wpi::MecanumDrive::DriveCartesianIK(0.0, 1.0, 0.0);
EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
// Rotate CCW
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 0.0, -1.0);
speeds = wpi::MecanumDrive::DriveCartesianIK(0.0, 0.0, -1.0);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
// Rotate CW
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 0.0, 1.0);
speeds = wpi::MecanumDrive::DriveCartesianIK(0.0, 0.0, 1.0);
EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
@@ -46,35 +46,35 @@ TEST(MecanumDriveTest, CartesianIK) {
TEST(MecanumDriveTest, CartesianIKGyro90CW) {
// Forward in global frame; left in robot frame
auto speeds = frc::MecanumDrive::DriveCartesianIK(1.0, 0.0, 0.0, 90_deg);
auto speeds = wpi::MecanumDrive::DriveCartesianIK(1.0, 0.0, 0.0, 90_deg);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearRight);
// Left in global frame; backward in robot frame
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, -1.0, 0.0, 90_deg);
speeds = wpi::MecanumDrive::DriveCartesianIK(0.0, -1.0, 0.0, 90_deg);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearRight);
// Right in global frame; forward in robot frame
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 1.0, 0.0, 90_deg);
speeds = wpi::MecanumDrive::DriveCartesianIK(0.0, 1.0, 0.0, 90_deg);
EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
// Rotate CCW
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 0.0, -1.0, 90_deg);
speeds = wpi::MecanumDrive::DriveCartesianIK(0.0, 0.0, -1.0, 90_deg);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
// Rotate CW
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 0.0, 1.0, 90_deg);
speeds = wpi::MecanumDrive::DriveCartesianIK(0.0, 0.0, 1.0, 90_deg);
EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
@@ -82,11 +82,11 @@ TEST(MecanumDriveTest, CartesianIKGyro90CW) {
}
TEST(MecanumDriveTest, Cartesian) {
frc::MockPWMMotorController fl;
frc::MockPWMMotorController rl;
frc::MockPWMMotorController fr;
frc::MockPWMMotorController rr;
frc::MecanumDrive drive{[&](double output) { fl.Set(output); },
wpi::MockPWMMotorController fl;
wpi::MockPWMMotorController rl;
wpi::MockPWMMotorController fr;
wpi::MockPWMMotorController rr;
wpi::MecanumDrive drive{[&](double output) { fl.Set(output); },
[&](double output) { rl.Set(output); },
[&](double output) { fr.Set(output); },
[&](double output) { rr.Set(output); }};
@@ -129,11 +129,11 @@ TEST(MecanumDriveTest, Cartesian) {
}
TEST(MecanumDriveTest, CartesianGyro90CW) {
frc::MockPWMMotorController fl;
frc::MockPWMMotorController rl;
frc::MockPWMMotorController fr;
frc::MockPWMMotorController rr;
frc::MecanumDrive drive{[&](double output) { fl.Set(output); },
wpi::MockPWMMotorController fl;
wpi::MockPWMMotorController rl;
wpi::MockPWMMotorController fr;
wpi::MockPWMMotorController rr;
wpi::MecanumDrive drive{[&](double output) { fl.Set(output); },
[&](double output) { rl.Set(output); },
[&](double output) { fr.Set(output); },
[&](double output) { rr.Set(output); }};
@@ -176,11 +176,11 @@ TEST(MecanumDriveTest, CartesianGyro90CW) {
}
TEST(MecanumDriveTest, Polar) {
frc::MockPWMMotorController fl;
frc::MockPWMMotorController rl;
frc::MockPWMMotorController fr;
frc::MockPWMMotorController rr;
frc::MecanumDrive drive{[&](double output) { fl.Set(output); },
wpi::MockPWMMotorController fl;
wpi::MockPWMMotorController rl;
wpi::MockPWMMotorController fr;
wpi::MockPWMMotorController rr;
wpi::MecanumDrive drive{[&](double output) { fl.Set(output); },
[&](double output) { rl.Set(output); },
[&](double output) { fr.Set(output); },
[&](double output) { rr.Set(output); }};