Fix DCMotor equations to use freeCurrent #8395
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,129 @@ | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
|
|
||
| package edu.wpi.first.math.system.plant; | ||
|
|
||
| import static org.junit.jupiter.api.Assertions.assertEquals; | ||
|
|
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| import java.util.function.Supplier; | ||
| import java.util.stream.Stream; | ||
| import org.junit.jupiter.params.ParameterizedTest; | ||
| import org.junit.jupiter.params.provider.Arguments; | ||
| import org.junit.jupiter.params.provider.MethodSource; | ||
|
|
||
| class DCMotorTest { | ||
| private static final double kTolerance = 1e-12; | ||
|
|
||
| static Stream<Arguments> motors() { | ||
| return Stream.of( | ||
| Arguments.of("CIM", (Supplier<DCMotor>) () -> DCMotor.getCIM(1)), | ||
| Arguments.of("MiniCIM", (Supplier<DCMotor>) () -> DCMotor.getMiniCIM(1)), | ||
| Arguments.of("Bag", (Supplier<DCMotor>) () -> DCMotor.getBag(1)), | ||
| Arguments.of("Vex775Pro", (Supplier<DCMotor>) () -> DCMotor.getVex775Pro(1)), | ||
| Arguments.of("AndymarkRs775_125", (Supplier<DCMotor>) () -> DCMotor.getAndymarkRs775_125(1)), | ||
| Arguments.of("BanebotsRs775", (Supplier<DCMotor>) () -> DCMotor.getBanebotsRs775(1)), | ||
| Arguments.of("Andymark9015", (Supplier<DCMotor>) () -> DCMotor.getAndymark9015(1)), | ||
| Arguments.of("BanebotsRs550", (Supplier<DCMotor>) () -> DCMotor.getBanebotsRs550(1)), | ||
| Arguments.of("NEO", (Supplier<DCMotor>) () -> DCMotor.getNEO(1)), | ||
| Arguments.of("Neo550", (Supplier<DCMotor>) () -> DCMotor.getNeo550(1)), | ||
| Arguments.of("Falcon500", (Supplier<DCMotor>) () -> DCMotor.getFalcon500(1)), | ||
| Arguments.of("Falcon500Foc", (Supplier<DCMotor>) () -> DCMotor.getFalcon500Foc(1)), | ||
| Arguments.of("RomiBuiltIn", (Supplier<DCMotor>) () -> DCMotor.getRomiBuiltIn(1)), | ||
| Arguments.of("KrakenX60", (Supplier<DCMotor>) () -> DCMotor.getKrakenX60(1)), | ||
| Arguments.of("KrakenX60Foc", (Supplier<DCMotor>) () -> DCMotor.getKrakenX60Foc(1)), | ||
| Arguments.of("KrakenX44", (Supplier<DCMotor>) () -> DCMotor.getKrakenX44(1)), | ||
| Arguments.of("KrakenX44Foc", (Supplier<DCMotor>) () -> DCMotor.getKrakenX44Foc(1)), | ||
| Arguments.of("Minion", (Supplier<DCMotor>) () -> DCMotor.getMinion(1)), | ||
| Arguments.of("NeoVortex", (Supplier<DCMotor>) () -> DCMotor.getNeoVortex(1))); | ||
| } | ||
|
|
||
| @ParameterizedTest(name = "{0}") | ||
| @MethodSource("motors") | ||
| void testCurrentAtZeroSpeedAndNominalVoltageIsStallCurrent( | ||
| String name, Supplier<DCMotor> motorFactory) { | ||
| var motor = motorFactory.get(); | ||
| assertEquals( | ||
| motor.stallCurrentAmps, | ||
| motor.getCurrent(0.0, motor.nominalVoltageVolts), | ||
| kTolerance); | ||
| } | ||
|
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||
| @ParameterizedTest(name = "{0}") | ||
| @MethodSource("motors") | ||
| void testCurrentAtFreeSpeedAndNominalVoltageIsFreeCurrent( | ||
| String name, Supplier<DCMotor> motorFactory) { | ||
| var motor = motorFactory.get(); | ||
| assertEquals( | ||
| motor.freeCurrentAmps, | ||
| motor.getCurrent(motor.freeSpeedRadPerSec, motor.nominalVoltageVolts), | ||
| kTolerance); | ||
| } | ||
|
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||
| @ParameterizedTest(name = "{0}") | ||
| @MethodSource("motors") | ||
| void testCurrentAtStallTorqueIsStallCurrent(String name, Supplier<DCMotor> motorFactory) { | ||
| var motor = motorFactory.get(); | ||
| assertEquals(motor.stallCurrentAmps, motor.getCurrent(motor.stallTorqueNewtonMeters), kTolerance); | ||
| } | ||
|
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||
| @ParameterizedTest(name = "{0}") | ||
| @MethodSource("motors") | ||
| void testCurrentAtZeroTorqueIsFreeCurrent(String name, Supplier<DCMotor> motorFactory) { | ||
| var motor = motorFactory.get(); | ||
| assertEquals(motor.freeCurrentAmps, motor.getCurrent(0.0), kTolerance); | ||
| } | ||
|
|
||
| @ParameterizedTest(name = "{0}") | ||
| @MethodSource("motors") | ||
| void testTorqueAtFreeCurrentIsZero(String name, Supplier<DCMotor> motorFactory) { | ||
| var motor = motorFactory.get(); | ||
| assertEquals(0.0, motor.getTorque(motor.freeCurrentAmps), kTolerance); | ||
| } | ||
|
|
||
| @ParameterizedTest(name = "{0}") | ||
| @MethodSource("motors") | ||
| void testTorqueAtStallCurrentIsStallTorque(String name, Supplier<DCMotor> motorFactory) { | ||
| var motor = motorFactory.get(); | ||
| assertEquals( | ||
| motor.stallTorqueNewtonMeters, motor.getTorque(motor.stallCurrentAmps), kTolerance); | ||
| } | ||
|
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||
| @ParameterizedTest(name = "{0}") | ||
| @MethodSource("motors") | ||
| void testVoltageAtStallTorqueAndZeroSpeedIsNominalVoltage( | ||
| String name, Supplier<DCMotor> motorFactory) { | ||
| var motor = motorFactory.get(); | ||
| assertEquals( | ||
| motor.nominalVoltageVolts, | ||
| motor.getVoltage(motor.stallTorqueNewtonMeters, 0.0), | ||
| kTolerance); | ||
| } | ||
|
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| @ParameterizedTest(name = "{0}") | ||
| @MethodSource("motors") | ||
| void testVoltageAtZeroTorqueAndFreeSpeedIsNominalVoltage( | ||
| String name, Supplier<DCMotor> motorFactory) { | ||
| var motor = motorFactory.get(); | ||
| assertEquals( | ||
| motor.nominalVoltageVolts, motor.getVoltage(0.0, motor.freeSpeedRadPerSec), kTolerance); | ||
| } | ||
|
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||
| @ParameterizedTest(name = "{0}") | ||
| @MethodSource("motors") | ||
| void testSpeedAtStallTorqueAndNominalVoltageIsZero( | ||
| String name, Supplier<DCMotor> motorFactory) { | ||
| var motor = motorFactory.get(); | ||
| assertEquals( | ||
| 0.0, motor.getSpeed(motor.stallTorqueNewtonMeters, motor.nominalVoltageVolts), kTolerance); | ||
| } | ||
|
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| @ParameterizedTest(name = "{0}") | ||
| @MethodSource("motors") | ||
| void testSpeedAtZeroTorqueAndNominalVoltageIsFreeSpeed( | ||
| String name, Supplier<DCMotor> motorFactory) { | ||
| var motor = motorFactory.get(); | ||
| assertEquals( | ||
| motor.freeSpeedRadPerSec, motor.getSpeed(0.0, motor.nominalVoltageVolts), kTolerance); | ||
| } | ||
| } |
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This returns a negative torque at 0 A, but at 0 velocity, 0 A actually corresponds to 0 torque. (This and
getSpeed()are what makes accounting for free current so difficult/annoying.)