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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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12
wpimath/src/test/java/edu/wpi/first/math/controller/ArmFeedforwardTest.java
View File

@@ -4,7 +4,9 @@
package edu.wpi.first.math.controller;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertThrows;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.Matrix;
@@ -100,4 +102,14 @@ class ArmFeedforwardTest {
assertEquals(-7.25, m_armFF.minAchievableAcceleration(12, Math.PI / 3, 1), 0.002);
assertEquals(-5.25, m_armFF.minAchievableAcceleration(12, Math.PI / 3, -1), 0.002);
}
@Test
void testNegativeGains() {
assertAll(
() ->
assertThrows(IllegalArgumentException.class, () -> new ArmFeedforward(ks, kg, -kv, ka)),
() ->
assertThrows(
IllegalArgumentException.class, () -> new ArmFeedforward(ks, kg, kv, -ka)));
}
}

13
wpimath/src/test/java/edu/wpi/first/math/controller/ElevatorFeedforwardTest.java
View File

@@ -4,7 +4,9 @@
package edu.wpi.first.math.controller;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertThrows;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.Nat;
@@ -53,4 +55,15 @@ class ElevatorFeedforwardTest {
assertEquals(-8.25, m_elevatorFF.minAchievableAcceleration(12, 2), 0.002);
assertEquals(-4.75, m_elevatorFF.minAchievableAcceleration(12, -2), 0.002);
}
@Test
void testNegativeGains() {
assertAll(
() ->
assertThrows(
IllegalArgumentException.class, () -> new ElevatorFeedforward(ks, kg, -kv, ka)),
() ->
assertThrows(
IllegalArgumentException.class, () -> new ElevatorFeedforward(ks, kg, kv, -ka)));
}
}

21
wpimath/src/test/java/edu/wpi/first/math/controller/SimpleMotorFeedforwardTest.java
View File

@@ -5,7 +5,9 @@
package edu.wpi.first.math.controller;
import static edu.wpi.first.units.Units.RadiansPerSecond;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertThrows;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.Nat;
@@ -49,4 +51,23 @@ class SimpleMotorFeedforwardTest {
simpleMotor.calculate(currentVelocity, nextVelocity).magnitude(),
2.0);
}
@Test
void testNegativeGains() {
double Ks = 0.5;
double Kv = 3.5;
double Ka = 3.5;
double dt = 0.02;
assertAll(
() ->
assertThrows(
IllegalArgumentException.class, () -> new SimpleMotorFeedforward(Ks, -Kv, Ka, dt)),
() ->
assertThrows(
IllegalArgumentException.class, () -> new SimpleMotorFeedforward(Ks, Kv, -Ka, dt)),
() ->
assertThrows(
IllegalArgumentException.class, () -> new SimpleMotorFeedforward(Ks, Kv, Ka, 0)));
}
}