Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-23 01:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Fix C++ feedforward constructors and add tests (#6873)

Browse Source
This commit is contained in:
Joseph Eng
2024-07-27 16:28:59 -07:00
committed by GitHub
parent 03b332d3cf
commit e83a432731
9 changed files with 87 additions and 28 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
View File

@@ -45,13 +45,13 @@ class WPILIB_DLLEXPORT ArmFeedforward {
if (kV.value() < 0) {
wpi::math::MathSharedStore::ReportError(
"kV must be a non-negative number, got {}!", kV.value());
kV = units::unit_t<kv_unit>{0};
this->kV = units::unit_t<kv_unit>{0};
wpi::math::MathSharedStore::ReportWarning("kV defaulted to 0.");
}
if (kA.value() < 0) {
wpi::math::MathSharedStore::ReportError(
"kA must be a non-negative number, got {}!", kA.value());
kA = units::unit_t<ka_unit>{0};
this->kA = units::unit_t<ka_unit>{0};
wpi::math::MathSharedStore::ReportWarning("kA defaulted to 0;");
}
}

4
wpimath/src/main/native/include/frc/controller/ElevatorFeedforward.h
View File

@@ -45,13 +45,13 @@ class ElevatorFeedforward {
if (kV.value() < 0) {
wpi::math::MathSharedStore::ReportError(
"kV must be a non-negative number, got {}!", kV.value());
kV = units::unit_t<kv_unit>{0};
this->kV = units::unit_t<kv_unit>{0};
wpi::math::MathSharedStore::ReportWarning("kV defaulted to 0.");
}
if (kA.value() < 0) {
wpi::math::MathSharedStore::ReportError(
"kA must be a non-negative number, got {}!", kA.value());
kA = units::unit_t<ka_unit>{0};
this->kA = units::unit_t<ka_unit>{0};
wpi::math::MathSharedStore::ReportWarning("kA defaulted to 0;");
}
}

38
wpimath/src/main/native/include/frc/controller/SimpleMotorFeedforward.h
View File

@@ -40,34 +40,24 @@ class SimpleMotorFeedforward {
units::volt_t kS, units::unit_t<kv_unit> kV,
units::unit_t<ka_unit> kA = units::unit_t<ka_unit>(0),
units::second_t dt = 20_ms)
: kS(kS),
kV([&] {
if (kV.value() < 0) {
wpi::math::MathSharedStore::ReportError(
"kV must be a non-negative number, got {}!", kV.value());
wpi::math::MathSharedStore::ReportWarning("kV defaulted to 0.");
return units::unit_t<kv_unit>{0};
} else {
return kV;
}
}()),
kA([&] {
if (kA.value() < 0) {
wpi::math::MathSharedStore::ReportError(
"kA must be a non-negative number, got {}!", kA.value());
wpi::math::MathSharedStore::ReportWarning("kA defaulted to 0.");
return units::unit_t<ka_unit>{0};
} else {
return kA;
}
}()) {
: kS(kS), kV(kV), kA(kA), m_dt(dt) {
if (kV.value() < 0) {
wpi::math::MathSharedStore::ReportError(
"kV must be a non-negative number, got {}!", kV.value());
this->kV = units::unit_t<kv_unit>{0};
wpi::math::MathSharedStore::ReportWarning("kV defaulted to 0.");
}
if (kA.value() < 0) {
wpi::math::MathSharedStore::ReportError(
"kA must be a non-negative number, got {}!", kA.value());
this->kA = units::unit_t<ka_unit>{0};
wpi::math::MathSharedStore::ReportWarning("kA defaulted to 0.");
}
if (dt <= 0_ms) {
wpi::math::MathSharedStore::ReportError(
"period must be a positive number, got {}!", dt.value());
m_dt = 20_ms;
this->m_dt = 20_ms;
wpi::math::MathSharedStore::ReportWarning("period defaulted to 20 ms.");
} else {
m_dt = dt;
}
}