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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.
29 lines
955 B
C++
29 lines
955 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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using namespace wpi::math;
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namespace {
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using StructType = wpi::util::Struct<wpi::math::ChassisVelocities>;
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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(ChassisVelocitiesStructTest, Roundtrip) {
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uint8_t buffer[StructType::GetSize()];
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std::memset(buffer, 0, StructType::GetSize());
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StructType::Pack(buffer, kExpectedData);
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ChassisVelocities unpacked_data = StructType::Unpack(buffer);
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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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