mirror of
https://github.com/wpilibsuite/allwpilib
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3b283ab9aa
Co-authored-by: Tyler Veness <calcmogul@gmail.com> Co-authored-by: Claudius Tewari <cttewari@gmail.com> Co-authored-by: Declan Freeman-Gleason <declanfreemangleason@gmail.com>
89 lines
2.4 KiB
C++
89 lines
2.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019-2020 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 <gtest/gtest.h>
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#include <cmath>
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#include "Eigen/Core"
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#include "frc/controller/LinearQuadraticRegulator.h"
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#include "frc/system/LinearSystem.h"
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#include "frc/system/plant/DCMotor.h"
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#include "frc/system/plant/LinearSystemId.h"
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#include "units/time.h"
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namespace frc {
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TEST(LinearQuadraticRegulatorTest, ElevatorGains) {
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LinearSystem<2, 1, 1> plant = [] {
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auto motors = DCMotor::Vex775Pro(2);
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// Carriage mass
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constexpr auto m = 5_kg;
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// Radius of pulley
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constexpr auto r = 0.0181864_m;
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// Gear ratio
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constexpr double G = 40.0 / 40.0;
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return frc::LinearSystemId::ElevatorSystem(motors, m, r, G);
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}();
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LinearQuadraticRegulator<2, 1> controller{
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plant, {0.02, 0.4}, {12.0}, 0.00505_s};
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EXPECT_NEAR(522.15314269, controller.K(0, 0), 1e-6);
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EXPECT_NEAR(38.20138596, controller.K(0, 1), 1e-6);
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}
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TEST(LinearQuadraticRegulatorTest, ArmGains) {
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LinearSystem<2, 1, 1> plant = [] {
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auto motors = DCMotor::Vex775Pro(2);
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// Carriage mass
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constexpr auto m = 4_kg;
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// Radius of pulley
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constexpr auto r = 0.4_m;
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// Gear ratio
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constexpr double G = 100.0;
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return frc::LinearSystemId::SingleJointedArmSystem(
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motors, 1.0 / 3.0 * m * r * r, G);
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}();
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LinearQuadraticRegulator<2, 1> controller{
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plant, {0.01745, 0.08726}, {12.0}, 0.00505_s};
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EXPECT_NEAR(19.16, controller.K(0, 0), 1e-1);
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EXPECT_NEAR(3.32, controller.K(0, 1), 1e-1);
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}
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TEST(LinearQuadraticRegulatorTest, FourMotorElevator) {
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LinearSystem<2, 1, 1> plant = [] {
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auto motors = DCMotor::Vex775Pro(4);
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// Carriage mass
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constexpr auto m = 8_kg;
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// Radius of pulley
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constexpr auto r = 0.75_in;
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// Gear ratio
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constexpr double G = 14.67;
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return frc::LinearSystemId::ElevatorSystem(motors, m, r, G);
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}();
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LinearQuadraticRegulator<2, 1> controller{plant, {0.1, 0.2}, {12.0}, 0.020_s};
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EXPECT_NEAR(10.38, controller.K(0, 0), 1e-1);
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EXPECT_NEAR(0.69, controller.K(0, 1), 1e-1);
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}
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} // namespace frc
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