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[wpimath] Add ChassisSpeeds.fromRobotRelativeSpeeds() (#5744)

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This commit is contained in:
Brayden Zee
2023-10-17 13:13:04 -04:00
committed by GitHub
parent f98c943445
commit e814595ea7
4 changed files with 126 additions and 6 deletions
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11
wpimath/src/test/java/edu/wpi/first/math/kinematics/ChassisSpeedsTest.java
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@@ -55,6 +55,17 @@ class ChassisSpeedsTest {
() -> assertEquals(0.5, chassisSpeeds.omegaRadiansPerSecond, kEpsilon));
}
@Test
void testFromRobotRelativeSpeeds() {
final var chassisSpeeds =
ChassisSpeeds.fromRobotRelativeSpeeds(1.0, 0.0, 0.5, Rotation2d.fromDegrees(45.0));
assertAll(
() -> assertEquals(1.0 / Math.sqrt(2.0), chassisSpeeds.vxMetersPerSecond, kEpsilon),
() -> assertEquals(1.0 / Math.sqrt(2.0), chassisSpeeds.vyMetersPerSecond, kEpsilon),
() -> assertEquals(0.5, chassisSpeeds.omegaRadiansPerSecond, kEpsilon));
}
@Test
void testPlus() {
final var left = new ChassisSpeeds(1.0, 0.5, 0.75);