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https://github.com/wpilibsuite/allwpilib
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56 lines
2.2 KiB
C++
56 lines
2.2 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/hardware/motor/PWMVictorSPX.hpp"
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#include "wpi/hardware/rotation/Encoder.hpp"
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#include "wpi/math/controller/PIDController.hpp"
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#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
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#include "wpi/math/system/plant/LinearSystemId.hpp"
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#include "wpi/simulation/BatterySim.hpp"
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#include "wpi/simulation/DifferentialDrivetrainSim.hpp"
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#include "wpi/simulation/ElevatorSim.hpp"
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#include "wpi/simulation/EncoderSim.hpp"
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#include "wpi/simulation/FlywheelSim.hpp"
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#include "wpi/simulation/LinearSystemSim.hpp"
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#include "wpi/simulation/PWMSim.hpp"
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#include "wpi/simulation/RoboRioSim.hpp"
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#include "wpi/system/RobotController.hpp"
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#include "wpi/units/angular_acceleration.hpp"
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#include "wpi/units/angular_velocity.hpp"
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TEST(StateSpaceSimTest, FlywheelSim) {
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const wpi::math::LinearSystem<1, 1, 1> plant =
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wpi::math::LinearSystemId::IdentifyVelocitySystem<wpi::units::radian>(
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0.02_V / 1_rad_per_s, 0.01_V / 1_rad_per_s_sq);
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wpi::sim::FlywheelSim sim{plant, wpi::math::DCMotor::NEO(2)};
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wpi::math::PIDController controller{0.2, 0.0, 0.0};
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wpi::math::SimpleMotorFeedforward<wpi::units::radian> feedforward{
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0_V, 0.02_V / 1_rad_per_s, 0.01_V / 1_rad_per_s_sq};
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wpi::Encoder encoder{0, 1};
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wpi::sim::EncoderSim encoderSim{encoder};
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wpi::PWMVictorSPX motor{0};
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wpi::sim::RoboRioSim::ResetData();
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encoderSim.ResetData();
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for (int i = 0; i < 100; i++) {
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// RobotPeriodic runs first
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auto voltageOut = controller.Calculate(encoder.GetRate(), 200.0);
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motor.SetVoltage(wpi::units::volt_t{voltageOut} +
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feedforward.Calculate(200_rad_per_s));
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// Then, SimulationPeriodic runs
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wpi::sim::RoboRioSim::SetVInVoltage(
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wpi::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
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sim.SetInput(
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wpi::math::Vectord<1>{motor.Get() * wpi::RobotController::GetInputVoltage()});
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sim.Update(20_ms);
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encoderSim.SetRate(sim.GetAngularVelocity().value());
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}
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ASSERT_TRUE(std::abs(200 - encoder.GetRate()) < 0.1);
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}
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