[robotpy] Add wpimath/kinematics tests #8461
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auscompgeek
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Dec 9, 2025
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auscompgeek
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I'm in favour of more tests, but they should use the library similarly to how we expect teams to use it.
auscompgeek
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Dec 27, 2025
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| def test_initialize(odometry3d_test): | ||
| odometry = MecanumDriveOdometry3d( | ||
| kinematics=odometry3d_test.kinematics, |
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nit: I think it's obvious what this param is already :)
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| kinematics=odometry3d_test.kinematics, | |
| odometry3d_test.kinematics, |
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| def test_optimize(): | ||
| angle_a = Rotation2d.fromDegrees(45) | ||
| ref_a = SwerveModuleState(speed=-2, angle=Rotation2d.fromDegrees(180)) |
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nit: given the components of these vectors have different types, I think it's clear enough from the types alone what each param is
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Used Gemini to convert the C++ tests in wpimath/.../kinematics to pytest. For ease of use required a better constructor for
MecanumDriveWheelPositionsI did this conversion months ago (before robotpy landed and before the reorg), so new tests might be missing. At least its better than nothing 🤷
Broke the huge pr that does almost everything into parts so its easier to review.