Fix Make `PWMMotorMediator` physically realistic #88.#102

Merged

brettle merged 19 commits intomasterfrom

make-PWMMotorControllerTest-realistic

Jul 10, 2024

Commits on Jul 9, 2024

Commits on Jul 10, 2024

Fix math.
brettle
committed
Merge remote-tracking branch 'origin/make-PWMMotorControllerTest-realistic' into make-PWMMotorControllerTest-realistic
brettle
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Fix for linear motors.
brettle
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Improve assertion message.
brettle
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Fix damping constant and available torque.
brettle
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Revert max torque to stall torque and fix how test computes expected values.
brettle
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Increase tolerances to accomodate CI on macos.
brettle
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Measure the actual time constant and assert that is close to the theoretical one,. This should be less flaky since we make the measurements well after the robot code changes the desired speed.
brettle
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Change flywheel thickness to correspond to a time constant of exactly 1 by using updated math.
brettle
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Rearrange for clarity.

brettle
and
CoolSpy3
authored
Remove extra paren.

brettle
and
CoolSpy3
authored