Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-02 02:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Upped the limits for the output on some PID tests.

Browse Source 
We were having issues with intermittent PID tests because one of the
motors on the test stand was sticky and needed a bit of a push to start.

Change-Id: Ic75cd38de867a74be3e4e445bd0d02323dfc4df8
This commit is contained in:
James Kuszmaul
2014-11-05 18:47:26 -05:00
parent 18de3aebdd
commit 05bb3cdd71
2 changed files with 7 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
wpilibc/wpilibC++IntegrationTests/src/MotorEncoderTest.cpp
View File

@@ -124,9 +124,9 @@ TEST_P(MotorEncoderTest, ClampSpeed) {
TEST_P(MotorEncoderTest, PIDController) {
Reset();
PIDController pid(0.003f, 0.001f, 0.0f, m_encoder, m_speedController);
PIDController pid(0.001f, 0.0005f, 0.0f, m_encoder, m_speedController);
pid.SetAbsoluteTolerance(20.0f);
pid.SetOutputRange(-0.2f, 0.2f);
pid.SetOutputRange(-0.3f, 0.3f);
pid.SetSetpoint(2500);
/* 10 seconds should be plenty time to get to the setpoint */
@@ -136,7 +136,7 @@ TEST_P(MotorEncoderTest, PIDController) {
RecordProperty("PIDError", pid.GetError());
EXPECT_TRUE(pid.OnTarget()) << "PID loop did not converge within 5 seconds.";
EXPECT_TRUE(pid.OnTarget()) << "PID loop did not converge within 10 seconds.";
}
/**

8
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
View File

@@ -44,8 +44,8 @@ public class PIDTest extends AbstractComsSetup {
private static final Logger logger = Logger.getLogger(PIDTest.class.getName());
private NetworkTable table;
private static final double absoluteTollerance = 30;
private static final double outputRange = 0.2;
private static final double absoluteTollerance = 20;
private static final double outputRange = 0.3;
private PIDController controller = null;
private static MotorEncoderFixture me = null;
@@ -72,8 +72,8 @@ public class PIDTest extends AbstractComsSetup {
public static Collection<Object[]> generateData(){
//logger.fine("Loading the MotorList");
Collection<Object[]> data = new ArrayList<Object[]>();
double kp = 0.003;
double ki = 0.0015;
double kp = 0.001;
double ki = 0.0005;
double kd = 0.0;
for(int i = 0; i < 1; i++){
data.addAll(Arrays.asList(new Object[][]{