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Upped the limits for the output on some PID tests.

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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
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6
wpilibc/wpilibC++IntegrationTests/src/MotorEncoderTest.cpp
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@@ -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.";
}
/**