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[wpilibcExamples] Make C++ state-space elevator KF and LQR match Java (#5346)

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This commit is contained in:
Tyler Veness
2023-05-18 10:09:48 -07:00
committed by GitHub
parent eed1e6e3cb
commit c9b612c986
1 changed files with 6 additions and 3 deletions
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9
wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
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@@ -50,8 +50,10 @@ class Robot : public frc::TimedRobot {
// The observer fuses our encoder data and voltage inputs to reject noise.
frc::KalmanFilter<2, 1, 1> m_observer{
m_elevatorPlant,
{0.0508, 0.5}, // How accurate we think our model is
{0.001}, // How accurate we think our encoder position
{units::meter_t{2_in}.value(),
units::meters_per_second_t{40_in / 1_s}
.value()}, // How accurate we think our model is
{0.001}, // How accurate we think our encoder position
// data is. In this case we very highly trust our encoder position
// reading.
20_ms};
@@ -62,7 +64,8 @@ class Robot : public frc::TimedRobot {
// qelms. State error tolerance, in meters and meters per second.
// Decrease this to more heavily penalize state excursion, or make the
// controller behave more aggressively.
{0.0254, 0.254},
{units::meter_t{1_in}.value(),
units::meters_per_second_t{10_in / 1_s}.value()},
// relms. Control effort (voltage) tolerance. Decrease this to more
// heavily penalize control effort, or make the controller less
// aggressive. 12 is a good starting point because that is the