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[wpilib] Add physics simulation support with state-space (#2615)

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This includes physics simulation support for arms/elevator models, as well as differential drivetrains.

Swerve might be added at a later date.

Co-authored-by: Claudius Tewari <cttewari@gmail.com>
Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Matt
2020-09-20 09:39:52 -07:00
committed by GitHub
parent 0503225928
commit b61f08d3fa
43 changed files with 3787 additions and 31 deletions
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69
wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <iostream>
#include <units/time.h>
#include "frc/Encoder.h"
#include "frc/PWMVictorSPX.h"
#include "frc/RobotController.h"
#include "frc/StateSpaceUtil.h"
#include "frc/controller/PIDController.h"
#include "frc/simulation/ElevatorSim.h"
#include "frc/simulation/EncoderSim.h"
#include "frc/system/plant/DCMotor.h"
#include "frc/system/plant/LinearSystemId.h"
#include "gtest/gtest.h"
TEST(ElevatorSim, StateSpaceSim) {
frc::sim::ElevatorSim sim(frc::DCMotor::Vex775Pro(4), 8_kg, 13.67,
units::meter_t(0.75 * 25.4 / 1000.0), 0_m, 3_m,
true, {0.01});
frc2::PIDController controller(10, 0.0, 0.0);
frc::PWMVictorSPX motor(0);
frc::Encoder encoder(0, 1);
frc::sim::EncoderSim encoderSim(encoder);
for (size_t i = 0; i < 100; ++i) {
controller.SetSetpoint(2.0);
auto nextVoltage = controller.Calculate(encoderSim.GetDistance());
motor.Set(nextVoltage / frc::RobotController::GetInputVoltage());
auto u = frc::MakeMatrix<1, 1>(motor.Get() *
frc::RobotController::GetInputVoltage());
sim.SetInput(u);
sim.Update(20_ms);
const auto& y = sim.Y();
encoderSim.SetDistance(y(0));
}
EXPECT_NEAR(controller.GetSetpoint(), sim.GetPosition().to<double>(), 0.2);
}
TEST(ElevatorSim, MinMax) {
frc::sim::ElevatorSim sim(frc::DCMotor::Vex775Pro(4), 8_kg, 13.67,
units::meter_t(0.75 * 25.4 / 1000.0), 0_m, 1_m,
true, {0.01});
for (size_t i = 0; i < 100; ++i) {
sim.SetInput(frc::MakeMatrix<1, 1>(0.0));
sim.Update(20_ms);
auto height = sim.GetPosition();
EXPECT_TRUE(height > -0.05_m);
}
for (size_t i = 0; i < 100; ++i) {
sim.SetInput(frc::MakeMatrix<1, 1>(12.0));
sim.Update(20_ms);
auto height = sim.GetPosition();
EXPECT_TRUE(height < 1.05_m);
}
}