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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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26
wpilibc/src/test/native/cpp/simulation/StateSpaceSimTest.cpp
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@@ -22,31 +22,31 @@
#include "wpi/units/angular_velocity.hpp"
TEST(StateSpaceSimTest, FlywheelSim) {
const frc::LinearSystem<1, 1, 1> plant =
frc::LinearSystemId::IdentifyVelocitySystem<units::radian>(
const wpi::math::LinearSystem<1, 1, 1> plant =
wpi::math::LinearSystemId::IdentifyVelocitySystem<wpi::units::radian>(
0.02_V / 1_rad_per_s, 0.01_V / 1_rad_per_s_sq);
frc::sim::FlywheelSim sim{plant, frc::DCMotor::NEO(2)};
frc::PIDController controller{0.2, 0.0, 0.0};
frc::SimpleMotorFeedforward<units::radian> feedforward{
wpi::sim::FlywheelSim sim{plant, wpi::math::DCMotor::NEO(2)};
wpi::math::PIDController controller{0.2, 0.0, 0.0};
wpi::math::SimpleMotorFeedforward<wpi::units::radian> feedforward{
0_V, 0.02_V / 1_rad_per_s, 0.01_V / 1_rad_per_s_sq};
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 < 100; i++) {
// RobotPeriodic runs first
auto voltageOut = controller.Calculate(encoder.GetRate(), 200.0);
motor.SetVoltage(units::volt_t{voltageOut} +
motor.SetVoltage(wpi::units::volt_t{voltageOut} +
feedforward.Calculate(200_rad_per_s));
// Then, SimulationPeriodic runs
frc::sim::RoboRioSim::SetVInVoltage(
frc::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
wpi::sim::RoboRioSim::SetVInVoltage(
wpi::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
sim.SetInput(
frc::Vectord<1>{motor.Get() * frc::RobotController::GetInputVoltage()});
wpi::math::Vectord<1>{motor.Get() * wpi::RobotController::GetInputVoltage()});
sim.Update(20_ms);
encoderSim.SetRate(sim.GetAngularVelocity().value());
}