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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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2
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSimTest.java
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@@ -62,7 +62,7 @@ class DifferentialDrivetrainSimTest {
.addConstraint(new DifferentialDriveKinematicsConstraint(kinematics, 1)));
for (double t = 0; t < traj.getTotalTimeSeconds(); t += 0.020) {
var state = traj.sample(0.020);
var state = traj.sample(t);
var ramseteOut = ramsete.calculate(sim.getPose(), state);
var wheelSpeeds = kinematics.toWheelSpeeds(ramseteOut);