commit 2a1abecf29a9e3bb82b075ab8c26750d21e17551
author Austin Schuh <austin.linux@gmail.com> Wed Jul 10 20:31:16 2024 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun Jul 14 16:04:03 2024 -0700
tree af0f6240cc391fc4d64d468447ef239e56926d6e
parent b67a38fd223ed98c1e0cbdd8268cb17d5a74460e

Add unit tests for physics for swerve

We can put the robot in a bunch of well defined situtations and confirm
the physics behaves reasonably.

Change-Id: I085986b6a5abc2053698a661d9f79f6841bb1ed7
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

frc971/control_loops/swerve/BUILD

diff --git a/frc971/control_loops/swerve/BUILD b/frc971/control_loops/swerve/BUILD
index 09b363a..ed2c604 100644
--- a/frc971/control_loops/swerve/BUILD
+++ b/frc971/control_loops/swerve/BUILD
@@ -165,3 +165,16 @@
         "@pip//scipy",
     ],
 )
+
+py_test(
+    name = "physics_test",
+    srcs = [
+        "dynamics.py",
+        "physics_test.py",
+    ],
+    target_compatible_with = ["@platforms//cpu:x86_64"],
+    deps = [
+        "@pip//casadi",
+        "@pip//numpy",
+    ],
+)