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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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12
wpimath/src/test/native/cpp/filter/SlewRateLimiterTest.cpp
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@@ -38,3 +38,15 @@ TEST_F(SlewRateLimiterTest, SlewRateNoLimit) {
EXPECT_EQ(limiter.Calculate(0.5_m), 0.5_m);
}
TEST_F(SlewRateLimiterTest, SlewRatePositveNegativeLimit) {
frc::SlewRateLimiter<units::meters> limiter(1_mps, -0.5_mps);
now += 1_s;
EXPECT_EQ(limiter.Calculate(2_m), 1_m);
now += 1_s;
EXPECT_EQ(limiter.Calculate(0_m), 0.5_m);
}