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[wpimath] Use units for LinearSystemId Kv and Ka (#2852)

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This commit is contained in:
Prateek Machiraju
2020-11-12 01:33:04 -05:00
committed by GitHub
parent f24f282442
commit ac3c336b98
6 changed files with 72 additions and 23 deletions
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4
wpilibcExamples/src/main/cpp/examples/DifferentialDriveSimulation/include/Drivetrain.h
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@@ -91,7 +91,9 @@ class Drivetrain {
frc::sim::EncoderSim m_rightEncoderSim{m_rightEncoder};
frc::Field2d m_fieldSim{};
frc::LinearSystem<2, 2, 2> m_drivetrainSystem =
frc::LinearSystemId::IdentifyDrivetrainSystem(1.98, 0.2, 1.5, 0.3);
frc::LinearSystemId::IdentifyDrivetrainSystem(
1.98_V / 1_mps, 0.2_V / 1_mps_sq, 1.5_V / 1_rad_per_s,
0.3_V / 1_rad_per_s_sq);
frc::sim::DifferentialDrivetrainSim m_drivetrainSimulator{
m_drivetrainSystem, kTrackWidth, frc::DCMotor::CIM(2), 8, 2_in};
};

7
wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
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@@ -33,10 +33,10 @@ class Robot : public frc::TimedRobot {
static constexpr units::radians_per_second_t kSpinup = 500_rpm;
// Volts per (radian per second)
static constexpr double kFlywheelKv = 0.023;
static constexpr auto kFlywheelKv = 0.023_V / 1_rad_per_s;
// Volts per (radian per second squared)
static constexpr double kFlywheelKa = 0.001;
static constexpr auto kFlywheelKa = 0.001_V / 1_rad_per_s_sq;
// The plant holds a state-space model of our flywheel. This system has the
// following properties:
@@ -47,7 +47,8 @@ class Robot : public frc::TimedRobot {
//
// The Kv and Ka constants are found using the FRC Characterization toolsuite.
frc::LinearSystem<1, 1, 1> m_flywheelPlant =
frc::LinearSystemId::IdentifyVelocitySystem(kFlywheelKv, kFlywheelKa);
frc::LinearSystemId::IdentifyVelocitySystem<units::radian>(kFlywheelKv,
kFlywheelKa);
// The observer fuses our encoder data and voltage inputs to reject noise.
frc::KalmanFilter<1, 1, 1> m_observer{