Rk4 sim

[PatXue]

What type of PR is this? (check all applicable)

• Refactor
• Feature
• Bug Fix
• Optimization
• Documentation Update

Description

Change physics simulator step function to use RK4 instead of midpoint rule for improved simulation accuracy.

QA Instructions, Screenshots, Recordings

Ran simulator on Gabriel's laptop and buggy appeared to travel as expected. Simulator ran very slowly (10Hz), but doesn't seem to be related to these changes, since even after undoing all the changes it ran at the same speed.

[PatXue]

Why does pylint think this commit changed every file in rb_ws?

[christianvluu]

Why does pylint think this commit changed every file in rb_ws?

Can you try pulling in/merging in main? Also which branch did you guys start from?

[PatXue]

Why does pylint think this commit changed every file in rb_ws?

Can you try pulling in/merging in main? Also which branch did you guys start from?

Ah, we started from main 2 weeks ago, and there's been some changes so that's probably why

[christianvluu]

Okay I’m feeling line endings change? @Jackack had this issue before so perhaps he can diagnose if that’s what causing this.

[PatXue]

Okay I’m feeling line endings change? @Jackack had this issue before so perhaps he can diagnose if that’s what causing this.

Is that the LF/CRLF thing in the bottom right? I have it set to LF

[Jackack]

If you look at the pylint output for each of the commits in this branch, pylint only complained about engine.py until the "fix pylint" commit, which caused pylint to complain about a bunch of other files.

[Jackack]

Just a hunch, might be merging the SW/Ui velocity PR from main that caused this

[Jackack]

also what did you do in the merge branch main commit? This branch is still behind main. Did you pull main from origin first when you merged?

[Jackack]

I took a look at the git log of this branch.

Since pylint checks the files that are different from main, I think what happened is:

1. main got updated because PRs were merged
2. you pushed this morning, without merging main into your branch
3. because your branch has files from an older version of main, pylint sees them and thinks: these files are different from the current main, let's check them
4. because these files are from before pylint existed and don't have proper style, pylint complains.
5. you merge main into your code, but without pulling main first. Your local main branch has the ui velocity PR, but not the auton overtake PR.
6. the files that pylint were mad about are still behind main, so pylint still complains

The fix would be to pull from main, and then merge main into your branch again.

[PatXue]

I took a look at the git log of this branch.

Since pylint checks the files that are different from main, I think what happened is:

1. main got updated because PRs were merged
2. you pushed this morning, without merging main into your branch
3. because your branch has files from an older version of main, pylint sees them and thinks: these files are different from the current main, let's check them
4. because these files are from before pylint existed and don't have proper style, pylint complains.
5. you merge main into your code, but without pulling main first. Your local main branch has the ui velocity PR, but not the auton overtake PR.
6. the files that pylint were mad about are still behind main, so pylint still complains

The fix would be to pull from main, and then merge main into your branch again.

Ah ok it seems to have worked now after pulling and merging again

[Jackack]

Tested on my laptop, sim frequency is good. Approved.