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9bd9656871
I left "free speed" alone since that's the technical term for it. In general, velocity is a vector quantity, and speed is a magnitude (i.e., a strictly positive value). This PR also replaces the speed verbiage in MotorController with duty cycle. Fixes #8423.
30 lines
969 B
C++
30 lines
969 B
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/kinematics/ChassisVelocities.hpp"
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#include "wpi/util/SmallVector.hpp"
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using namespace wpi::math;
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namespace {
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const ChassisVelocities kExpectedData =
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ChassisVelocities{2.29_mps, 2.2_mps, 0.3504_rad_per_s};
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} // namespace
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TEST(ChassisVelocitiesProtoTest, Roundtrip) {
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wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
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wpi::util::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.vx.value(), unpacked_data->vx.value());
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EXPECT_EQ(kExpectedData.vy.value(), unpacked_data->vy.value());
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EXPECT_EQ(kExpectedData.omega.value(), unpacked_data->omega.value());
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}
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