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[wpilib] Fix trajectory sampling in DifferentialDriveSim test (#3821)

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Also rename C++ test file to match class name.

Fixes #3818.
This commit is contained in:
Tyler Veness
2021-12-22 22:27:51 -08:00
committed by GitHub
parent 6f91f37cd0
commit c3fd20db59
2 changed files with 6 additions and 7 deletions
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11
wpilibc/src/test/native/cpp/simulation/DifferentialDriveSimTest.cpp → wpilibc/src/test/native/cpp/simulation/DifferentialDrivetrainSimTest.cpp
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@@ -17,7 +17,7 @@
#include "frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h"
#include "gtest/gtest.h"
TEST(DifferentialDriveSimTest, Convergence) {
TEST(DifferentialDrivetrainSimTest, Convergence) {
auto motor = frc::DCMotor::NEO(2);
auto plant = frc::LinearSystemId::DrivetrainVelocitySystem(
motor, 50_kg, 2_in, 12_in, 0.5_kg_sq_m, 1.0);
@@ -42,9 +42,8 @@ TEST(DifferentialDriveSimTest, Convergence) {
auto trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
frc::Pose2d(), {}, frc::Pose2d(2_m, 2_m, 0_rad), config);
// NOLINTNEXTLINE
for (double t = 0; t < trajectory.TotalTime().value(); t += 0.02) {
auto state = trajectory.Sample(20_ms);
for (auto t = 0_s; t < trajectory.TotalTime(); t += 20_ms) {
auto state = trajectory.Sample(t);
auto ramseteOut = ramsete.Calculate(sim.GetPose(), state);
auto [l, r] = kinematics.ToWheelSpeeds(ramseteOut);
@@ -70,7 +69,7 @@ TEST(DifferentialDriveSimTest, Convergence) {
EXPECT_NEAR(groundTruthX(2, 0), sim.GetHeading().Radians().value(), 0.01);
}
TEST(DifferentialDriveSimTest, Current) {
TEST(DifferentialDrivetrainSimTest, Current) {
auto motor = frc::DCMotor::NEO(2);
auto plant = frc::LinearSystemId::DrivetrainVelocitySystem(
motor, 50_kg, 2_in, 12_in, 0.5_kg_sq_m, 1.0);
@@ -97,7 +96,7 @@ TEST(DifferentialDriveSimTest, Current) {
EXPECT_TRUE(sim.GetCurrentDraw() > 0_A);
}
TEST(DifferentialDriveSimTest, ModelStability) {
TEST(DifferentialDrivetrainSimTest, ModelStability) {
auto motor = frc::DCMotor::NEO(2);
auto plant = frc::LinearSystemId::DrivetrainVelocitySystem(
motor, 50_kg, 2_in, 12_in, 2_kg_sq_m, 5.0);