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SCRIPT namespace replacements

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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
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40
wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp
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@@ -17,23 +17,23 @@
#include "wpi/units/time.hpp"
#define EXPECT_NEAR_UNITS(val1, val2, eps) \
EXPECT_LE(units::math::abs(val1 - val2), eps)
EXPECT_LE(wpi::units::math::abs(val1 - val2), eps)
TEST(ElevatorSimTest, StateSpaceSim) {
frc::sim::ElevatorSim sim(frc::DCMotor::Vex775Pro(4), 14.67, 8_kg, 0.75_in,
wpi::sim::ElevatorSim sim(wpi::math::DCMotor::Vex775Pro(4), 14.67, 8_kg, 0.75_in,
0_m, 3_m, true, 0_m, {0.01});
frc::PIDController controller(10, 0.0, 0.0);
wpi::math::PIDController controller(10, 0.0, 0.0);
frc::PWMVictorSPX motor(0);
frc::Encoder encoder(0, 1);
frc::sim::EncoderSim encoderSim(encoder);
wpi::PWMVictorSPX motor(0);
wpi::Encoder encoder(0, 1);
wpi::sim::EncoderSim encoderSim(encoder);
for (size_t i = 0; i < 100; ++i) {
controller.SetSetpoint(2.0);
auto nextVoltage = controller.Calculate(encoderSim.GetDistance());
motor.Set(nextVoltage / frc::RobotController::GetInputVoltage());
motor.Set(nextVoltage / wpi::RobotController::GetInputVoltage());
frc::Vectord<1> u{motor.Get() * frc::RobotController::GetInputVoltage()};
wpi::math::Vectord<1> u{motor.Get() * wpi::RobotController::GetInputVoltage()};
sim.SetInput(u);
sim.Update(20_ms);
@@ -46,7 +46,7 @@ TEST(ElevatorSimTest, StateSpaceSim) {
TEST(ElevatorSimTest, InitialState) {
constexpr auto startingHeight = 0.5_m;
frc::sim::ElevatorSim sim(frc::DCMotor::KrakenX60(2), 20, 8_kg, 0.1_m, 0_m,
wpi::sim::ElevatorSim sim(wpi::math::DCMotor::KrakenX60(2), 20, 8_kg, 0.1_m, 0_m,
1_m, true, startingHeight, {0.01, 0.0});
EXPECT_DOUBLE_EQ(startingHeight.value(), sim.GetPosition().value());
@@ -54,10 +54,10 @@ TEST(ElevatorSimTest, InitialState) {
}
TEST(ElevatorSimTest, MinMax) {
frc::sim::ElevatorSim sim(frc::DCMotor::Vex775Pro(4), 14.67, 8_kg, 0.75_in,
wpi::sim::ElevatorSim sim(wpi::math::DCMotor::Vex775Pro(4), 14.67, 8_kg, 0.75_in,
0_m, 1_m, true, 0_m, {0.01});
for (size_t i = 0; i < 100; ++i) {
sim.SetInput(frc::Vectord<1>{0.0});
sim.SetInput(wpi::math::Vectord<1>{0.0});
sim.Update(20_ms);
auto height = sim.GetPosition();
@@ -65,7 +65,7 @@ TEST(ElevatorSimTest, MinMax) {
}
for (size_t i = 0; i < 100; ++i) {
sim.SetInput(frc::Vectord<1>{12.0});
sim.SetInput(wpi::math::Vectord<1>{12.0});
sim.Update(20_ms);
auto height = sim.GetPosition();
@@ -74,21 +74,21 @@ TEST(ElevatorSimTest, MinMax) {
}
TEST(ElevatorSimTest, Stability) {
frc::sim::ElevatorSim sim{
frc::DCMotor::Vex775Pro(4), 100, 4_kg, 0.5_in, 0_m, 10_m, false, 0_m};
wpi::sim::ElevatorSim sim{
wpi::math::DCMotor::Vex775Pro(4), 100, 4_kg, 0.5_in, 0_m, 10_m, false, 0_m};
sim.SetState(frc::Vectord<2>{0.0, 0.0});
sim.SetInput(frc::Vectord<1>{12.0});
sim.SetState(wpi::math::Vectord<2>{0.0, 0.0});
sim.SetInput(wpi::math::Vectord<1>{12.0});
for (int i = 0; i < 50; ++i) {
sim.Update(20_ms);
}
frc::LinearSystem<2, 1, 1> system =
frc::LinearSystemId::ElevatorSystem(frc::DCMotor::Vex775Pro(4), 4_kg,
wpi::math::LinearSystem<2, 1, 1> system =
wpi::math::LinearSystemId::ElevatorSystem(wpi::math::DCMotor::Vex775Pro(4), 4_kg,
0.5_in, 100)
.Slice(0);
EXPECT_NEAR_UNITS(
units::meter_t{system.CalculateX(frc::Vectord<2>{0.0, 0.0},
frc::Vectord<1>{12.0}, 20_ms * 50)(0)},
wpi::units::meter_t{system.CalculateX(wpi::math::Vectord<2>{0.0, 0.0},
wpi::math::Vectord<1>{12.0}, 20_ms * 50)(0)},
sim.GetPosition(), 1_cm);
}