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

2026-06-23 01:21:42 +00:00 · 2024-07-27 16:28:59 -07:00
parent 03b332d3cf
commit e83a432731
9 changed files with 87 additions and 28 deletions
--- a/wpimath/src/test/native/cpp/controller/ArmFeedforwardTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/ArmFeedforwardTest.cpp
@@ -139,3 +139,9 @@ TEST(ArmFeedforwardTest, AchievableAcceleration) {
                  .value(),
              -5.25, 0.002);
 }
+
+TEST(ArmFeedforwardTest, NegativeGains) {
+  frc::ArmFeedforward armFF{Ks, Kg, -Kv, -Ka};
+  EXPECT_EQ(armFF.GetKv().value(), 0);
+  EXPECT_EQ(armFF.GetKa().value(), 0);
+}