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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / d6e7f69517fd75ab1d7554c7c95ec03da90a460c / frc971 / control_loops / swerve / generate_physics.cc
  1. 3f3ee7b Merge "Remove deceptive velocity physics codegen for C++" into main by James Kuszmaul · 11 months ago
  2. 5dac229 Add JAX cost, and test to verify correctness by Austin Schuh · 11 months ago
  3. a9550c0 Make JAX dynamics code not depend on casadi code by Austin Schuh · 11 months ago
  4. f65b1a5 Remove deceptive velocity physics codegen for C++ by James Kuszmaul · 12 months ago
  5. ef14ab4 Add test comparing C++ and Python dynamics codegen by James Kuszmaul · 1 year ago
  6. ef7a5df Merge "Add cost for force variance from average force and torque" into main by Austin Schuh · 12 months ago
  7. d18f79f Fix bug in physics and a few in physics_debug by justinT21 · 12 months ago
  8. 820767f Add cost for force variance from average force and torque by justinT21 · 1 year ago
  9. 76534f3 Add JAX version of the physics, and tests to confirm it matches by Austin Schuh · 1 year, 1 month ago
  10. ba91ece Merge "Compensate steer coupling torque from velocity cost" into main by Austin Schuh · 1 year, 1 month ago
  11. 5371c80 Add support for making soft_atan2 a function in casadi by Austin Schuh · 1 year, 1 month ago
  12. cc6eed0 Add sigmoid to replace abs(x) in atan2(y, x) to keep it smooth on the x-axis by justinT21 · 1 year, 1 month ago
  13. 98fbbe8 Compensate steer coupling torque from velocity cost by Austin Schuh · 1 year, 1 month ago
  14. 78a1b31 Use a sigmoid function for caster direction by Austin Schuh · 1 year, 1 month ago
  15. bd75c48 Fix singularities in atan2 at 0, 0 in swerve physics by Austin Schuh · 1 year, 1 month ago
  16. 6ea789e Add initial velocity MPC by Austin Schuh · 1 year, 2 months ago
  17. b65288d Fix current related issues by justinT21 · 1 year, 2 months ago
  18. 5ddcb47 Make swerve C++ physics match python by Austin Schuh · 1 year, 2 months ago
  19. 27694fa Fix signs on wheels pointed backwards by Austin Schuh · 1 year, 2 months ago
  20. 99f7c6a Move over to ABSL logging and flags. by Austin Schuh · 1 year, 3 months ago
  21. 6927bc3 Fix caster to be to the back in the swerve physcis by Austin Schuh · 1 year, 2 months ago
  22. b8b34be Fix and test swerve physics mistakes by Austin Schuh · 1 year, 2 months ago
  23. 2a1abec Add unit tests for physics for swerve by Austin Schuh · 1 year, 2 months ago
  24. b67a38f Generate functions to compute swerve internal state by Austin Schuh · 1 year, 3 months ago
  25. 0f88109 Add casadi generator to symengine code by Austin Schuh · 1 year, 3 months ago
  26. 942892b Fix some cases of divergence in the physics model by justinT21 · 1 year, 3 months ago
  27. 446e4f6 Port over sympy physics solving to c++ using symengine by justinT21 · 1 year, 3 months ago