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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 5dac229f5da196f1191e16d713e81d0adf1b46ed / frc971 / control_loops / swerve / generate_physics.cc
  1. 5dac229 Add JAX cost, and test to verify correctness by Austin Schuh · 7 months ago
  2. a9550c0 Make JAX dynamics code not depend on casadi code by Austin Schuh · 7 months ago
  3. ef14ab4 Add test comparing C++ and Python dynamics codegen by James Kuszmaul · 8 months ago
  4. ef7a5df Merge "Add cost for force variance from average force and torque" into main by Austin Schuh · 7 months ago
  5. d18f79f Fix bug in physics and a few in physics_debug by justinT21 · 8 months ago
  6. 820767f Add cost for force variance from average force and torque by justinT21 · 8 months ago
  7. 76534f3 Add JAX version of the physics, and tests to confirm it matches by Austin Schuh · 8 months ago
  8. ba91ece Merge "Compensate steer coupling torque from velocity cost" into main by Austin Schuh · 8 months ago
  9. 5371c80 Add support for making soft_atan2 a function in casadi by Austin Schuh · 8 months ago
  10. cc6eed0 Add sigmoid to replace abs(x) in atan2(y, x) to keep it smooth on the x-axis by justinT21 · 8 months ago
  11. 98fbbe8 Compensate steer coupling torque from velocity cost by Austin Schuh · 9 months ago
  12. 78a1b31 Use a sigmoid function for caster direction by Austin Schuh · 9 months ago
  13. bd75c48 Fix singularities in atan2 at 0, 0 in swerve physics by Austin Schuh · 9 months ago
  14. 6ea789e Add initial velocity MPC by Austin Schuh · 9 months ago
  15. b65288d Fix current related issues by justinT21 · 9 months ago
  16. 5ddcb47 Make swerve C++ physics match python by Austin Schuh · 10 months ago
  17. 27694fa Fix signs on wheels pointed backwards by Austin Schuh · 10 months ago
  18. 99f7c6a Move over to ABSL logging and flags. by Austin Schuh · 10 months ago
  19. 6927bc3 Fix caster to be to the back in the swerve physcis by Austin Schuh · 10 months ago
  20. b8b34be Fix and test swerve physics mistakes by Austin Schuh · 10 months ago
  21. 2a1abec Add unit tests for physics for swerve by Austin Schuh · 10 months ago
  22. b67a38f Generate functions to compute swerve internal state by Austin Schuh · 10 months ago
  23. 0f88109 Add casadi generator to symengine code by Austin Schuh · 10 months ago
  24. 942892b Fix some cases of divergence in the physics model by justinT21 · 10 months ago
  25. 446e4f6 Port over sympy physics solving to c++ using symengine by justinT21 · 11 months ago