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[wpimath] Add direction to slew rate limiter (#4377)

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This commit is contained in:
ohowe
2022-09-01 15:46:46 -06:00
committed by GitHub
parent fafc81ed1a
commit b5a17f762c
4 changed files with 94 additions and 16 deletions
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9
wpimath/src/test/java/edu/wpi/first/math/filter/SlewRateLimiterTest.java
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@@ -38,4 +38,13 @@ class SlewRateLimiterTest {
WPIUtilJNI.setMockTime(1000000L);
assertEquals(limiter.calculate(0.5), 0.5);
}
@Test
void slewRatePositiveNegativeTest() {
var limiter = new SlewRateLimiter(1, -0.5, 0);
WPIUtilJNI.setMockTime(1000000L);
assertEquals(limiter.calculate(2), 1);
WPIUtilJNI.setMockTime(2000000L);
assertEquals(limiter.calculate(0), 0.5);
}
}