mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
ac9be78e27
Now, implicit narrowing conversions are only used with wpi::Now(). This
also fixes clang-tidy warnings about C-style casts. For example:
```
== clang-tidy /__w/allwpilib/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc ==
/__w/allwpilib/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc:95:18: warning: C-style casts are discouraged; use static_cast/const_cast/reinterpret_cast [google-readability-casting]
auto curTime = units::second_t(m_timer.Get());
^
```
In that case at least, the cast was removed entirely since Get() already
returns a units::second_t.
77 lines
3.1 KiB
C++
77 lines
3.1 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 <wpi/numbers>
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#include "frc/kinematics/ChassisSpeeds.h"
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#include "frc/kinematics/DifferentialDriveKinematics.h"
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#include "gtest/gtest.h"
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#include "units/angular_velocity.h"
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#include "units/length.h"
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#include "units/velocity.h"
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using namespace frc;
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static constexpr double kEpsilon = 1E-9;
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TEST(DifferentialDriveKinematicsTest, InverseKinematicsFromZero) {
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const DifferentialDriveKinematics kinematics{0.381_m * 2};
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const ChassisSpeeds chassisSpeeds;
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const auto wheelSpeeds = kinematics.ToWheelSpeeds(chassisSpeeds);
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EXPECT_NEAR(wheelSpeeds.left.value(), 0, kEpsilon);
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EXPECT_NEAR(wheelSpeeds.right.value(), 0, kEpsilon);
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}
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TEST(DifferentialDriveKinematicsTest, ForwardKinematicsFromZero) {
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const DifferentialDriveKinematics kinematics{0.381_m * 2};
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const DifferentialDriveWheelSpeeds wheelSpeeds;
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const auto chassisSpeeds = kinematics.ToChassisSpeeds(wheelSpeeds);
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EXPECT_NEAR(chassisSpeeds.vx.value(), 0, kEpsilon);
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EXPECT_NEAR(chassisSpeeds.vy.value(), 0, kEpsilon);
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EXPECT_NEAR(chassisSpeeds.omega.value(), 0, kEpsilon);
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}
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TEST(DifferentialDriveKinematicsTest, InverseKinematicsForStraightLine) {
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const DifferentialDriveKinematics kinematics{0.381_m * 2};
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const ChassisSpeeds chassisSpeeds{3.0_mps, 0_mps, 0_rad_per_s};
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const auto wheelSpeeds = kinematics.ToWheelSpeeds(chassisSpeeds);
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EXPECT_NEAR(wheelSpeeds.left.value(), 3, kEpsilon);
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EXPECT_NEAR(wheelSpeeds.right.value(), 3, kEpsilon);
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}
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TEST(DifferentialDriveKinematicsTest, ForwardKinematicsForStraightLine) {
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const DifferentialDriveKinematics kinematics{0.381_m * 2};
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const DifferentialDriveWheelSpeeds wheelSpeeds{3.0_mps, 3.0_mps};
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const auto chassisSpeeds = kinematics.ToChassisSpeeds(wheelSpeeds);
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EXPECT_NEAR(chassisSpeeds.vx.value(), 3, kEpsilon);
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EXPECT_NEAR(chassisSpeeds.vy.value(), 0, kEpsilon);
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EXPECT_NEAR(chassisSpeeds.omega.value(), 0, kEpsilon);
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}
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TEST(DifferentialDriveKinematicsTest, InverseKinematicsForRotateInPlace) {
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const DifferentialDriveKinematics kinematics{0.381_m * 2};
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const ChassisSpeeds chassisSpeeds{
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0.0_mps, 0.0_mps, units::radians_per_second_t{wpi::numbers::pi}};
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const auto wheelSpeeds = kinematics.ToWheelSpeeds(chassisSpeeds);
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EXPECT_NEAR(wheelSpeeds.left.value(), -0.381 * wpi::numbers::pi, kEpsilon);
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EXPECT_NEAR(wheelSpeeds.right.value(), +0.381 * wpi::numbers::pi, kEpsilon);
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}
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TEST(DifferentialDriveKinematicsTest, ForwardKinematicsForRotateInPlace) {
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const DifferentialDriveKinematics kinematics{0.381_m * 2};
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const DifferentialDriveWheelSpeeds wheelSpeeds{
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units::meters_per_second_t{+0.381 * wpi::numbers::pi},
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units::meters_per_second_t{-0.381 * wpi::numbers::pi}};
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const auto chassisSpeeds = kinematics.ToChassisSpeeds(wheelSpeeds);
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EXPECT_NEAR(chassisSpeeds.vx.value(), 0, kEpsilon);
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EXPECT_NEAR(chassisSpeeds.vy.value(), 0, kEpsilon);
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EXPECT_NEAR(chassisSpeeds.omega.value(), -wpi::numbers::pi, kEpsilon);
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}
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