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[wpilib] Use RKDP in DifferentialDrivetrainSim (#5931)

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This commit is contained in:
Tyler Veness
2023-11-17 08:41:18 -08:00
committed by GitHub
parent ead9ae5a69
commit b1fad062f7
4 changed files with 6 additions and 7 deletions
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4
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSimTest.java
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@@ -76,11 +76,11 @@ class DifferentialDrivetrainSimTest {
sim.update(0.020);
// Update our ground truth
groundTruthX = NumericalIntegration.rk4(sim::getDynamics, groundTruthX, voltages, 0.020);
groundTruthX = NumericalIntegration.rkdp(sim::getDynamics, groundTruthX, voltages, 0.020);
}
// 2 inch tolerance is OK since our ground truth is an approximation of the
// ODE solution using RK4 anyway
// ODE solution using RKDP anyway
assertEquals(
groundTruthX.get(DifferentialDrivetrainSim.State.kX.value, 0),
sim.getState(DifferentialDrivetrainSim.State.kX),