Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +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

52
wpilibc/src/test/native/cpp/simulation/DCMotorSimTest.cpp
View File

@@ -15,16 +15,16 @@
#include "wpi/system/RobotController.hpp"
TEST(DCMotorSimTest, VoltageSteadyState) {
frc::DCMotor gearbox = frc::DCMotor::NEO(1);
auto plant = frc::LinearSystemId::DCMotorSystem(
frc::DCMotor::NEO(1), units::kilogram_square_meter_t{0.0005}, 1.0);
frc::sim::DCMotorSim sim{plant, gearbox};
wpi::math::DCMotor gearbox = wpi::math::DCMotor::NEO(1);
auto plant = wpi::math::LinearSystemId::DCMotorSystem(
wpi::math::DCMotor::NEO(1), wpi::units::kilogram_square_meter_t{0.0005}, 1.0);
wpi::sim::DCMotorSim sim{plant, gearbox};
frc::Encoder encoder{0, 1};
frc::sim::EncoderSim encoderSim{encoder};
frc::PWMVictorSPX motor{0};
wpi::Encoder encoder{0, 1};
wpi::sim::EncoderSim encoderSim{encoder};
wpi::PWMVictorSPX motor{0};
frc::sim::RoboRioSim::ResetData();
wpi::sim::RoboRioSim::ResetData();
encoderSim.ResetData();
// Spin-up
@@ -33,10 +33,10 @@ TEST(DCMotorSimTest, VoltageSteadyState) {
motor.SetVoltage(12_V);
// Then, SimulationPeriodic runs
frc::sim::RoboRioSim::SetVInVoltage(
frc::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
wpi::sim::RoboRioSim::SetVInVoltage(
wpi::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
sim.SetInputVoltage(motor.Get() *
frc::RobotController::GetBatteryVoltage());
wpi::RobotController::GetBatteryVoltage());
sim.Update(20_ms);
encoderSim.SetRate(sim.GetAngularVelocity().value());
}
@@ -49,10 +49,10 @@ TEST(DCMotorSimTest, VoltageSteadyState) {
motor.SetVoltage(0_V);
// Then, SimulationPeriodic runs
frc::sim::RoboRioSim::SetVInVoltage(
frc::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
wpi::sim::RoboRioSim::SetVInVoltage(
wpi::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
sim.SetInputVoltage(motor.Get() *
frc::RobotController::GetBatteryVoltage());
wpi::RobotController::GetBatteryVoltage());
sim.Update(20_ms);
encoderSim.SetRate(sim.GetAngularVelocity().value());
}
@@ -61,18 +61,18 @@ TEST(DCMotorSimTest, VoltageSteadyState) {
}
TEST(DCMotorSimTest, PositionFeedbackControl) {
frc::DCMotor gearbox = frc::DCMotor::NEO(1);
auto plant = frc::LinearSystemId::DCMotorSystem(
frc::DCMotor::NEO(1), units::kilogram_square_meter_t{0.0005}, 1.0);
frc::sim::DCMotorSim sim{plant, gearbox};
wpi::math::DCMotor gearbox = wpi::math::DCMotor::NEO(1);
auto plant = wpi::math::LinearSystemId::DCMotorSystem(
wpi::math::DCMotor::NEO(1), wpi::units::kilogram_square_meter_t{0.0005}, 1.0);
wpi::sim::DCMotorSim sim{plant, gearbox};
frc::PIDController controller{0.04, 0.0, 0.001};
wpi::math::PIDController controller{0.04, 0.0, 0.001};
frc::Encoder encoder{0, 1};
frc::sim::EncoderSim encoderSim{encoder};
frc::PWMVictorSPX motor{0};
wpi::Encoder encoder{0, 1};
wpi::sim::EncoderSim encoderSim{encoder};
wpi::PWMVictorSPX motor{0};
frc::sim::RoboRioSim::ResetData();
wpi::sim::RoboRioSim::ResetData();
encoderSim.ResetData();
for (int i = 0; i < 140; i++) {
@@ -80,10 +80,10 @@ TEST(DCMotorSimTest, PositionFeedbackControl) {
motor.Set(controller.Calculate(encoder.GetDistance(), 750));
// Then, SimulationPeriodic runs
frc::sim::RoboRioSim::SetVInVoltage(
frc::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
wpi::sim::RoboRioSim::SetVInVoltage(
wpi::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
sim.SetInputVoltage(motor.Get() *
frc::RobotController::GetBatteryVoltage());
wpi::RobotController::GetBatteryVoltage());
sim.Update(20_ms);
encoderSim.SetDistance(sim.GetAngularPosition().value());
encoderSim.SetRate(sim.GetAngularVelocity().value());