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[wpimath] Remove ImplicitModelFollower dt argument (#4119)

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The math works just fine without model discretization.
This commit is contained in:
Tyler Veness
2022-03-29 11:29:06 -07:00
committed by GitHub
parent b4620f01f9
commit c8905ec29a
4 changed files with 36 additions and 67 deletions
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4
wpimath/src/test/java/edu/wpi/first/math/controller/ImplicitModelFollowerTest.java
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@@ -21,7 +21,7 @@ class ImplicitModelFollowerTest {
var plant = LinearSystemId.identifyDrivetrainSystem(1.0, 1.0, 1.0, 1.0);
var imf = new ImplicitModelFollower<N2, N2, N2>(plant, plant, dt);
var imf = new ImplicitModelFollower<N2, N2, N2>(plant, plant);
var x = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(0.0, 0.0);
var xImf = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(0.0, 0.0);
@@ -67,7 +67,7 @@ class ImplicitModelFollowerTest {
// Linear acceleration is slower, but angular acceleration is the same
var plantRef = LinearSystemId.identifyDrivetrainSystem(1.0, 2.0, 1.0, 1.0);
var imf = new ImplicitModelFollower<N2, N2, N2>(plant, plantRef, dt);
var imf = new ImplicitModelFollower<N2, N2, N2>(plant, plantRef);
var x = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(0.0, 0.0);
var xImf = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(0.0, 0.0);