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34 lines
1.1 KiB
C++
34 lines
1.1 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <gtest/gtest.h>
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#include "wpi/math/controller/ArmFeedforward.hpp"
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#include "wpi/util/SmallVector.hpp"
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using namespace frc;
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namespace {
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static constexpr auto Ks = 1.91_V;
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static constexpr auto Kg = 2.29_V;
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static constexpr auto Kv = 35.04_V * 1_s / 1_rad;
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static constexpr auto Ka = 1.74_V * 1_s * 1_s / 1_rad;
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const ArmFeedforward kExpectedData{Ks, Kg, Kv, Ka};
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} // namespace
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TEST(ArmFeedforwardProtoTest, Roundtrip) {
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wpi::ProtobufMessage<decltype(kExpectedData)> message;
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wpi::SmallVector<uint8_t, 64> buf;
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ASSERT_TRUE(message.Pack(buf, kExpectedData));
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auto unpacked_data = message.Unpack(buf);
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ASSERT_TRUE(unpacked_data.has_value());
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EXPECT_EQ(kExpectedData.GetKs().value(), unpacked_data->GetKs().value());
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EXPECT_EQ(kExpectedData.GetKg().value(), unpacked_data->GetKg().value());
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EXPECT_EQ(kExpectedData.GetKv().value(), unpacked_data->GetKv().value());
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EXPECT_EQ(kExpectedData.GetKa().value(), unpacked_data->GetKa().value());
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}
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