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[sysid] Remove CTRE v5 CANCoder preset (#6753)

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Fixes #6466.
This commit is contained in:
Tyler Veness
2024-06-21 20:54:29 -07:00
committed by GitHub
parent 76a3a60712
commit d2b1aa1869
3 changed files with 6 additions and 9 deletions
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1
sysid/src/main/native/cpp/view/Analyzer.cpp
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@@ -32,7 +32,6 @@ Analyzer::Analyzer(glass::Storage& storage, wpi::Logger& logger)
// Fill the StringMap with preset values.
m_presets["Default"] = presets::kDefault;
m_presets["WPILib"] = presets::kWPILib;
m_presets["CTRE Phoenix 5 CANcoder"] = presets::kCTREv5CANCoder;
m_presets["CTRE Phoenix 5"] = presets::kCTREv5;
m_presets["CTRE Phoenix 6"] = presets::kCTREv6;
m_presets["REV Brushless Encoder Port"] = presets::kREVNEOBuiltIn;

2
sysid/src/main/native/include/sysid/analysis/FeedbackControllerPreset.h
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@@ -115,8 +115,6 @@ inline constexpr FeedbackControllerPreset kWPILib{kDefault};
*
* Total delay = 50 ms + 31.5 ms = 81.5 ms.
*/
inline constexpr FeedbackControllerPreset kCTREv5CANCoder{1.0 / 12.0, 60.0,
1_ms, true, 81.5_ms};
inline constexpr FeedbackControllerPreset kCTREv5{1023.0 / 12.0, 0.1, 1_ms,
false, 81.5_ms};
/**

12
sysid/src/test/native/cpp/analysis/FeedbackAnalysisTest.cpp
View File

@@ -54,10 +54,10 @@ TEST(FeedbackAnalysisTest, VelocityCTRE) {
sysid::LQRParameters params{1, 1.5, 7};
auto [Kp, Kd] = sysid::CalculateVelocityFeedbackGains(
sysid::presets::kCTREv5CANCoder, params, Kv, Ka);
auto [Kp, Kd] = sysid::CalculateVelocityFeedbackGains(sysid::presets::kCTREv5,
params, Kv, Ka);
EXPECT_NEAR(Kp, 0.000417, 0.00005);
EXPECT_NEAR(Kp, 259.21276731541178, 0.00005);
EXPECT_NEAR(Kd, 0.00, 0.05);
}
@@ -67,12 +67,12 @@ TEST(FeedbackAnalysisTest, VelocityCTREConversion) {
sysid::LQRParameters params{1, 1.5, 7};
auto [Kp, Kd] = sysid::CalculateVelocityFeedbackGains(
sysid::presets::kCTREv5CANCoder, params, Kv, Ka, 3.0);
auto [Kp, Kd] = sysid::CalculateVelocityFeedbackGains(sysid::presets::kCTREv5,
params, Kv, Ka, 3.0);
// This should have the same Kp as the test above, but scaled by a factor
// of 3.
EXPECT_NEAR(Kp, 0.000417 / 3, 0.00005);
EXPECT_NEAR(Kp, 259.21276731541178 / 3, 0.00005);
EXPECT_NEAR(Kd, 0.00, 0.05);
}