add windows crash test

JuliaComputing · Oct 1, 2024 · 7690db5 · 7690db5
1 parent 3865327
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diff --git a/test/runtests.jl b/test/runtests.jl
@@ -1,3 +1,5 @@
+include("windows_crash.jl")
+
 using ModelingToolkit
 using Multibody
 using Test

diff --git a/test/windows_crash.jl b/test/windows_crash.jl
@@ -0,0 +1,31 @@
+using ModelingToolkit
+using Multibody
+using Test
+using JuliaSimCompiler
+using OrdinaryDiffEq
+t = Multibody.t
+D = Differential(t)
+
+@named robot = Multibody.Robot6DOF()
+robot = complete(robot)
+println("complete")
+
+ssys = structural_simplify(IRSystem(robot))
+println("structural_simplify")
+
+
+prob = ODEProblem(ssys, [
+ robot.mechanics.r1.phi => deg2rad(-60)
+ robot.mechanics.r2.phi => deg2rad(20)
+ robot.mechanics.r3.phi => deg2rad(90)
+ robot.mechanics.r4.phi => deg2rad(0)
+ robot.mechanics.r5.phi => deg2rad(-110)
+ robot.mechanics.r6.phi => deg2rad(0)
+
+ robot.axis1.motor.Jmotor.phi => deg2rad(-60) * (-105) # Multiply by gear ratio
+ robot.axis2.motor.Jmotor.phi => deg2rad(20) * (210)
+ robot.axis3.motor.Jmotor.phi => deg2rad(90) * (60)
+], (0.0, 2.0))
+println("ODEProblem done, calling solve")
+
+sol = solve(prob, Rodas5P(autodiff=false));