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c898853b4d
Establishes the invariant that the state and measurement always match up, even immediately after construction.
33 lines
1.1 KiB
C++
33 lines
1.1 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 <numbers>
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#include <gtest/gtest.h>
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#include "frc/simulation/SingleJointedArmSim.h"
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TEST(SingleJointedArmTest, Disabled) {
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frc::sim::SingleJointedArmSim sim(frc::DCMotor::Vex775Pro(2), 300, 3_kg_sq_m,
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30_in, -180_deg, 0_deg, true, 90_deg);
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sim.SetState(frc::Vectord<2>{0.0, 0.0});
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for (size_t i = 0; i < 12 / 0.02; ++i) {
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sim.SetInput(frc::Vectord<1>{0.0});
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sim.Update(20_ms);
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}
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// The arm should swing down.
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EXPECT_NEAR(sim.GetAngle().value(), -std::numbers::pi / 2, 0.01);
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}
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TEST(SingleJointedArmTest, InitialState) {
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constexpr auto startingAngle = 45_deg;
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frc::sim::SingleJointedArmSim sim(frc::DCMotor::KrakenX60(2), 125, 3_kg_sq_m,
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30_in, 0_deg, 90_deg, true, startingAngle);
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EXPECT_EQ(startingAngle, sim.GetAngle());
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EXPECT_DOUBLE_EQ(0, sim.GetVelocity().value());
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}
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