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Merge branch 'main' into 2027

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This commit is contained in:
Peter Johnson
2026-02-15 00:51:21 -08:00
parent 36c489247c 77dfad97c6
commit af865f8020
98 changed files with 3031 additions and 219 deletions
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27
tools/sysid/src/main/native/cpp/analysis/AnalysisManager.cpp
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@@ -57,7 +57,8 @@ static double Lerp(wpi::units::second_t time,
*/
static std::vector<PreparedData> ConvertToPrepared(const MotorData& data) {
std::vector<PreparedData> prepared;
// assume we've selected down to a single contiguous run by this point
// Assume we've selected down to a single contiguous run by this point
auto run = data.runs[0];
for (int i = 0; i < static_cast<int>(run.voltage.size()) - 1; ++i) {
@@ -101,7 +102,7 @@ static void CopyRawData(wpi::util::StringMap<MotorData>* dataset) {
}
/**
* Assigns the combines the various datasets into a single one for analysis.
* Combines the various datasets into a single one for analysis.
*
* @param slowForward The slow forward dataset
* @param slowBackward The slow backward dataset
@@ -127,6 +128,28 @@ void AnalysisManager::PrepareGeneralData() {
// Convert data to PreparedData structs
for (auto& it : m_data.motorData) {
auto key = it.first;
// Assume we've selected down to a single contiguous run by this point
auto run = m_data.motorData[key].runs[0];
// Ensure data has at least two samples in it or linear interpolation within
// ConvertToPrepared() will fail
if (run.voltage.size() < 2) {
throw sysid::InvalidDataError(fmt::format(
"{} data has {} voltage samples and at least 2 are required.", key,
run.voltage.size()));
}
if (run.position.size() < 2) {
throw sysid::InvalidDataError(fmt::format(
"{} data has {} position samples and at least 2 are required.", key,
run.position.size()));
}
if (run.velocity.size() < 2) {
throw sysid::InvalidDataError(fmt::format(
"{} data has {} velocity samples and at least 2 are required.", key,
run.velocity.size()));
}
preparedData[key] = ConvertToPrepared(m_data.motorData[key]);
WPI_INFO(m_logger, "SAMPLES {}", preparedData[key].size());
}