fix theta not adjusting error

team4099 · Mar 26, 2024 · 7e61ff8 · 7e61ff8
1 parent a7a6868
commit 7e61ff8
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Showing 4 changed files with 6 additions and 15 deletions.
diff --git a/src/main/kotlin/org/team4099/lib/units/derived/Controller.kt b/src/main/kotlin/org/team4099/lib/units/derived/Controller.kt
@@ -251,7 +251,7 @@ inline val DerivativeGain<Velocity<Radian>, Ampere>.inAmpsPerDegreesPerSecondPer
 inline val DerivativeGain<Velocity<Radian>, Ampere>.inAmpsPerRotationsPerMinutePerSecond: Double
   get() = inAmpsPerRadiansPerSecondPerSecond / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
 
-inline val Double.radiansPerSecondPerRadiansPerSecond
+inline val Double.RadiansPerSecondPerRadiansPerSecond
   get() = Value<Fraction<Velocity<Radian>, Velocity<Radian>>>(this)
 
 inline val ProportionalGain<Meter, Velocity<Radian>>.inRadiansPerSecondPerMeter: Double
@@ -348,7 +348,7 @@ inline val DerivativeGain<
   Velocity<Radian>, Velocity<Radian>>.inRadiansPerSecondPerRotationsPerMinutePerSecond: Double
   get() = inRadiansPerSecondPerRadiansPerSecondPerSecond / SECONDS_PER_MINUTE * RADIANS_PER_ROTATION
 
-inline val Double.metersPerSecondPerMetersPerSecond
+inline val Double.MetersPerSecondPerMetersPerSecond
   get() = Value<Fraction<Velocity<Meter>, Velocity<Meter>>>(this)
 
 inline val ProportionalGain<Meter, Velocity<Meter>>.inMetersPerSecondPerMeter: Double
@@ -548,11 +548,12 @@ inline val ProportionalGain<Meter, Velocity<Radian>>.inDegreesPerSecondPerFoot:
   get() = inDegreesPerSecondPerMeter * METERS_PER_FOOT
 
 inline val ProportionalGain<Radian, Velocity<Radian>>.inDegreesPerSecondPerRadian: Double
-  get() = value
+  get() = inRadiansPerSecondPerRadian * RADIANS_PER_DEGREES
 
 inline val ProportionalGain<Radian, Velocity<Radian>>.inDegreesPerSecondPerDegree: Double
-  get() = inDegreesPerSecondPerRadian * RADIANS_PER_DEGREES
+  get() = inDegreesPerSecondPerRadian / RADIANS_PER_DEGREES
 
+//
 inline val ProportionalGain<Radian, Velocity<Radian>>.inDegreesPerSecondPerRotation: Double
   get() = inDegreesPerSecondPerRadian * RADIANS_PER_ROTATION
 

diff --git a/.../org/team4099/lib/units/derived/controllergeneration/__pycache__/generate.cpython-310.pyc b/.../org/team4099/lib/units/derived/controllergeneration/__pycache__/generate.cpython-310.pyc
diff --git a/src/main/kotlin/org/team4099/lib/units/derived/controllergeneration/generate.py b/src/main/kotlin/org/team4099/lib/units/derived/controllergeneration/generate.py
@@ -11,7 +11,7 @@ def render_template(template_filename, context):
     return TEMPLATE_ENVIRONMENT.get_template(template_filename).render(context)
 
 def create_controller_file():
-    fname = "src/main/kotlin/org/team4099/lib/units/derived/Controller.kt"
+    fname = "../Controller.kt"
     outputs = ['Volt', 'Ampere', 'Velocity<Radian>', 'Velocity<Meter>', "Meter", "Velocity<Radian>"]
     output_aliases = ['Volts', 'Amps', 'RadiansPerSecond', "MetersPerSecond", "Meters", "DegreesPerSecond"]
     context = {

diff --git a/src/test/kotlin/team4099/controller/PIDControllerTest.kt b/src/test/kotlin/team4099/controller/PIDControllerTest.kt
@@ -22,23 +22,13 @@ import org.team4099.lib.units.derived.inVoltsPerInch
 import org.team4099.lib.units.derived.inVoltsPerRotation
 import org.team4099.lib.units.derived.inVoltsPerRotationPerMinute
 import org.team4099.lib.units.derived.inVoltsPerRotationsPerMinutePerSecond
-import org.team4099.lib.units.derived.metersPerSecondPerMetersPerSecond
 import org.team4099.lib.units.derived.perInch
 import org.team4099.lib.units.derived.rotations
 import org.team4099.lib.units.derived.volts
 import org.team4099.lib.units.perMinute
 import org.team4099.lib.units.perSecond
 
 class PIDControllerTest {
-
-  @Test
-  fun testConstruction() {
-    val kP: ProportionalGain<Meter, Fraction<Meter, Second>> = 10.meters.perSecond / 1.meters
-    val kD = (0.5.meters.perSecond / (1.meters / 1.seconds)).metersPerSecondPerMetersPerSecond
-    val kI = 0.1.meters.perSecond / (10.meters * 1.seconds)
-    val positionToVelocityPIDController = PIDController<Meter, Fraction<Meter, Second>>(kP, kI, kD)
-  }
-
   @Test
   fun ampFeedForward() {
     val aff =