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[wpilib] LinearSystemSim.setState: calculate new output state (#7799)

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Establishes the invariant that the state and measurement always match up, even immediately after construction.
This commit is contained in:
HarryXChen
2025-02-19 01:49:28 -05:00
committed by GitHub
parent bd2211119f
commit c898853b4d
6 changed files with 80 additions and 21 deletions
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9
wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp
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@@ -44,6 +44,15 @@ TEST(ElevatorSimTest, StateSpaceSim) {
EXPECT_NEAR(controller.GetSetpoint(), sim.GetPosition().value(), 0.2);
}
TEST(ElevatorSimTest, InitialState) {
constexpr auto startingHeight = 0.5_m;
frc::sim::ElevatorSim sim(frc::DCMotor::KrakenX60(2), 20, 8_kg, 0.1_m, 0_m,
1_m, true, startingHeight, {0.01, 0.0});
EXPECT_DOUBLE_EQ(startingHeight.value(), sim.GetPosition().value());
EXPECT_DOUBLE_EQ(0, sim.GetVelocity().value());
}
TEST(ElevatorSimTest, MinMax) {
frc::sim::ElevatorSim sim(frc::DCMotor::Vex775Pro(4), 14.67, 8_kg, 0.75_in,
0_m, 1_m, true, 0_m, {0.01});

9
wpilibc/src/test/native/cpp/simulation/SingleJointedArmSimTest.cpp
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@@ -21,3 +21,12 @@ TEST(SingleJointedArmTest, Disabled) {
// The arm should swing down.
EXPECT_NEAR(sim.GetAngle().value(), -std::numbers::pi / 2, 0.01);
}
TEST(SingleJointedArmTest, InitialState) {
constexpr auto startingAngle = 45_deg;
frc::sim::SingleJointedArmSim sim(frc::DCMotor::KrakenX60(2), 125, 3_kg_sq_m,
30_in, 0_deg, 90_deg, true, startingAngle);
EXPECT_EQ(startingAngle, sim.GetAngle());
EXPECT_DOUBLE_EQ(0, sim.GetVelocity().value());
}