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

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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
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4
wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
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@@ -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;");
}
}