[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.
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| def test_discretize(): | ||
| target = ChassisSpeeds( | ||
| meters_per_second(1), meters_per_second(0), radians_per_second(0.5) |
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IMO these tests should use keyword arguments for clarity, similarly to the existing tests, and shouldn't wrap the values in calls to the units type aliases.
Using the type aliases like this might mislead users, who may look at these tests as examples, into thinking that you could call a different unit type alias and it'd convert for you. Which, if you know they're only type aliases, is obviously wrong, but without that context it's not obvious from reading the code.
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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.