Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'main' into development

Browse Source
This commit is contained in:
Peter Johnson
2024-03-16 11:06:44 -07:00
parent 38c128fe6a c10f7d91b7
commit fd4424eb89
28 changed files with 781 additions and 107 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
sysid/src/test/native/cpp/analysis/FeedbackAnalysisTest.cpp
View File

@@ -130,3 +130,16 @@ TEST(FeedbackAnalysisTest, PositionWithLatencyCompensation) {
EXPECT_NEAR(Kp, 5.92, 0.05);
EXPECT_NEAR(Kd, 2.12, 0.05);
}
TEST(FeedbackAnalysisTest, PositionREV) {
auto Kv = 3.060;
auto Ka = 0.327;
sysid::LQRParameters params{1, 1.5, 7};
auto [Kp, Kd] = sysid::CalculatePositionFeedbackGains(
sysid::presets::kREVNEOBuiltIn, params, Kv, Ka);
EXPECT_NEAR(Kp, 0.30202, 0.05);
EXPECT_NEAR(Kd, 48.518, 0.05);
}