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[sysid] Refactor feedback analysis (#7827)

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This commit is contained in:
Tyler Veness
2025-02-25 19:05:05 -08:00
committed by GitHub
parent 517344fe80
commit cd6fee7fea
2 changed files with 53 additions and 36 deletions
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30
sysid/src/test/native/cpp/analysis/FeedbackAnalysisTest.cpp
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@@ -7,7 +7,7 @@
#include "sysid/analysis/FeedbackAnalysis.h"
#include "sysid/analysis/FeedbackControllerPreset.h"
TEST(FeedbackAnalysisTest, Velocity1) {
TEST(FeedbackAnalysisTest, VelocitySystem1) {
auto Kv = 3.060;
auto Ka = 0.327;
@@ -20,7 +20,7 @@ TEST(FeedbackAnalysisTest, Velocity1) {
EXPECT_NEAR(Kd, 0.00, 0.05);
}
TEST(FeedbackAnalysisTest, Velocity2) {
TEST(FeedbackAnalysisTest, VelocitySystem2) {
auto Kv = 0.0693;
auto Ka = 0.1170;
@@ -33,6 +33,19 @@ TEST(FeedbackAnalysisTest, Velocity2) {
EXPECT_NEAR(Kd, 0.00, 0.05);
}
TEST(FeedbackAnalysisTest, VelocitySystemWithSmallKa) {
auto Kv = 3.060;
auto Ka = 0.0;
sysid::LQRParameters params{1, 1.5, 7};
auto [Kp, Kd] = sysid::CalculateVelocityFeedbackGains(
sysid::presets::kDefault, params, Kv, Ka);
EXPECT_NEAR(Kp, 0.00, 0.05);
EXPECT_NEAR(Kd, 0.00, 0.05);
}
TEST(FeedbackAnalysisTest, VelocityConversion) {
auto Kv = 0.0693;
auto Ka = 0.1170;
@@ -117,6 +130,19 @@ TEST(FeedbackAnalysisTest, Position) {
EXPECT_NEAR(Kd, 2.48, 0.05);
}
TEST(FeedbackAnalysisTest, PositionWithSmallKa) {
auto Kv = 3.060;
auto Ka = 1e-10;
sysid::LQRParameters params{1, 1.5, 7};
auto [Kp, Kd] = sysid::CalculatePositionFeedbackGains(
sysid::presets::kDefault, params, Kv, Ka);
EXPECT_NEAR(Kp, 19.97, 0.05);
EXPECT_NEAR(Kd, 0.00, 0.05);
}
TEST(FeedbackAnalysisTest, PositionWithLatencyCompensation) {
auto Kv = 3.060;
auto Ka = 0.327;