mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
97 lines
3.2 KiB
C++
97 lines
3.2 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
#include <gtest/gtest.h>
|
|
|
|
#include "wpi/hardware/motor/PWMVictorSPX.hpp"
|
|
#include "wpi/hardware/rotation/Encoder.hpp"
|
|
#include "wpi/math/controller/PIDController.hpp"
|
|
#include "wpi/math/system/plant/LinearSystemId.hpp"
|
|
#include "wpi/simulation/BatterySim.hpp"
|
|
#include "wpi/simulation/DCMotorSim.hpp"
|
|
#include "wpi/simulation/EncoderSim.hpp"
|
|
#include "wpi/simulation/RoboRioSim.hpp"
|
|
#include "wpi/system/RobotController.hpp"
|
|
|
|
TEST(DCMotorSimTest, VoltageSteadyState) {
|
|
wpi::math::DCMotor gearbox = wpi::math::DCMotor::NEO(1);
|
|
auto plant = wpi::math::LinearSystemId::DCMotorSystem(
|
|
wpi::math::DCMotor::NEO(1), wpi::units::kilogram_square_meter_t{0.0005},
|
|
1.0);
|
|
wpi::sim::DCMotorSim sim{plant, gearbox};
|
|
|
|
wpi::Encoder encoder{0, 1};
|
|
wpi::sim::EncoderSim encoderSim{encoder};
|
|
wpi::PWMVictorSPX motor{0};
|
|
|
|
wpi::sim::RoboRioSim::ResetData();
|
|
encoderSim.ResetData();
|
|
|
|
// Spin-up
|
|
for (int i = 0; i < 100; i++) {
|
|
// RobotPeriodic runs first
|
|
motor.SetVoltage(12_V);
|
|
|
|
// Then, SimulationPeriodic runs
|
|
wpi::sim::RoboRioSim::SetVInVoltage(
|
|
wpi::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
|
|
sim.SetInputVoltage(motor.Get() *
|
|
wpi::RobotController::GetBatteryVoltage());
|
|
sim.Update(20_ms);
|
|
encoderSim.SetRate(sim.GetAngularVelocity().value());
|
|
}
|
|
|
|
EXPECT_NEAR((gearbox.Kv * 12_V).value(), encoder.GetRate(), 0.1);
|
|
|
|
// Decay
|
|
for (int i = 0; i < 100; i++) {
|
|
// RobotPeriodic runs first
|
|
motor.SetVoltage(0_V);
|
|
|
|
// Then, SimulationPeriodic runs
|
|
wpi::sim::RoboRioSim::SetVInVoltage(
|
|
wpi::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
|
|
sim.SetInputVoltage(motor.Get() *
|
|
wpi::RobotController::GetBatteryVoltage());
|
|
sim.Update(20_ms);
|
|
encoderSim.SetRate(sim.GetAngularVelocity().value());
|
|
}
|
|
|
|
EXPECT_NEAR(0, encoder.GetRate(), 0.1);
|
|
}
|
|
|
|
TEST(DCMotorSimTest, PositionFeedbackControl) {
|
|
wpi::math::DCMotor gearbox = wpi::math::DCMotor::NEO(1);
|
|
auto plant = wpi::math::LinearSystemId::DCMotorSystem(
|
|
wpi::math::DCMotor::NEO(1), wpi::units::kilogram_square_meter_t{0.0005},
|
|
1.0);
|
|
wpi::sim::DCMotorSim sim{plant, gearbox};
|
|
|
|
wpi::math::PIDController controller{0.04, 0.0, 0.001};
|
|
|
|
wpi::Encoder encoder{0, 1};
|
|
wpi::sim::EncoderSim encoderSim{encoder};
|
|
wpi::PWMVictorSPX motor{0};
|
|
|
|
wpi::sim::RoboRioSim::ResetData();
|
|
encoderSim.ResetData();
|
|
|
|
for (int i = 0; i < 140; i++) {
|
|
// RobotPeriodic runs first
|
|
motor.Set(controller.Calculate(encoder.GetDistance(), 750));
|
|
|
|
// Then, SimulationPeriodic runs
|
|
wpi::sim::RoboRioSim::SetVInVoltage(
|
|
wpi::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
|
|
sim.SetInputVoltage(motor.Get() *
|
|
wpi::RobotController::GetBatteryVoltage());
|
|
sim.Update(20_ms);
|
|
encoderSim.SetDistance(sim.GetAngularPosition().value());
|
|
encoderSim.SetRate(sim.GetAngularVelocity().value());
|
|
}
|
|
|
|
EXPECT_NEAR(encoder.GetDistance(), 750, 1.0);
|
|
EXPECT_NEAR(encoder.GetRate(), 0, 0.1);
|
|
}
|