| commit | 76534f36c8be2864e543bd53080ece7d672f7898 | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Mon Sep 02 13:52:45 2024 -0700 |
| committer | Austin Schuh <austin.linux@gmail.com> | Sat Sep 14 16:58:25 2024 -0700 |
| tree | 8713b1d80407bb1a3cd4849b4bc6b9b7f9b10426 | |
| parent | 3f3d7ca4eb810d91f66ba267447b41ea3ac963df [diff] [blame] |
Add JAX version of the physics, and tests to confirm it matches This sets us up to very efficiently compute dynamics and jit. Change-Id: I57aea5c1f480759c8e5e658ff6f4de0d82ef273d Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/frc971/control_loops/swerve/generate_physics.cc b/frc971/control_loops/swerve/generate_physics.cc index 3c4eaf6..e796ec6 100644 --- a/frc971/control_loops/swerve/generate_physics.cc +++ b/frc971/control_loops/swerve/generate_physics.cc
@@ -142,7 +142,7 @@ rb1_ = symbol("rb1"); rb2_ = symbol("rb2"); - Gd2_ = symbol("Gd3"); + Gd3_ = symbol("Gd3"); Gd_ = symbol("Gd"); Js_ = symbol("Js");