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b61f08d3fa
This includes physics simulation support for arms/elevator models, as well as differential drivetrains. Swerve might be added at a later date. Co-authored-by: Claudius Tewari <cttewari@gmail.com> Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com> Co-authored-by: Tyler Veness <calcmogul@gmail.com>
26 lines
1.0 KiB
C++
26 lines
1.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include <wpi/math>
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#include "frc/simulation/SingleJointedArmSim.h"
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#include "gtest/gtest.h"
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TEST(SingleJointedArmTest, Disabled) {
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frc::sim::SingleJointedArmSim sim(frc::DCMotor::Vex775Pro(2), 100, 10_kg,
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9.5_in, -180_deg, 0_deg, false, {0.0});
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sim.ResetState(frc::MakeMatrix<2, 1>(0.0, 0.0));
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for (size_t i = 0; i < 12 / 0.02; ++i) {
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sim.SetInput(frc::MakeMatrix<1, 1>(0.0));
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sim.Update(20_ms);
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}
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// The arm should swing down.
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EXPECT_NEAR(sim.GetAngle().to<double>(), -wpi::math::pi / 2, 0.01);
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}
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