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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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12
sysid/src/test/native/cpp/analysis/FeedbackAnalysisTest.cpp
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@@ -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);
}