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56 lines
2.1 KiB
C++
56 lines
2.1 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 <units/angular_acceleration.h>
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#include <units/angular_velocity.h>
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#include "frc/Encoder.h"
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#include "frc/RobotController.h"
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#include "frc/controller/PIDController.h"
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#include "frc/controller/SimpleMotorFeedforward.h"
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#include "frc/motorcontrol/PWMVictorSPX.h"
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#include "frc/simulation/BatterySim.h"
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#include "frc/simulation/DifferentialDrivetrainSim.h"
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#include "frc/simulation/ElevatorSim.h"
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#include "frc/simulation/EncoderSim.h"
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#include "frc/simulation/FlywheelSim.h"
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#include "frc/simulation/LinearSystemSim.h"
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#include "frc/simulation/PWMSim.h"
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#include "frc/simulation/RoboRioSim.h"
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#include "frc/system/plant/LinearSystemId.h"
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#include "gtest/gtest.h"
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TEST(StateSpaceSimTest, FlywheelSim) {
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const frc::LinearSystem<1, 1, 1> plant =
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frc::LinearSystemId::IdentifyVelocitySystem<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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frc::sim::FlywheelSim sim{plant, frc::DCMotor::NEO(2), 1.0};
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frc2::PIDController controller{0.2, 0.0, 0.0};
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frc::SimpleMotorFeedforward<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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frc::Encoder encoder{0, 1};
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frc::sim::EncoderSim encoderSim{encoder};
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frc::PWMVictorSPX motor{0};
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frc::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(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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frc::sim::RoboRioSim::SetVInVoltage(
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frc::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
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sim.SetInput(
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frc::Vectord<1>{motor.Get() * frc::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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