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[wpimath] Fix PID atSetpoint to not return true prematurely (#4906)

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Wait until setpoint and measurement have been set.
This commit is contained in:
sciencewhiz
2023-01-13 22:26:30 -08:00
committed by GitHub
parent e5a6197633
commit 1e05b21ab5
5 changed files with 21 additions and 11 deletions
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7
wpimath/src/test/java/edu/wpi/first/math/controller/PIDToleranceTest.java
View File

@@ -19,7 +19,7 @@ class PIDToleranceTest {
try (var controller = new PIDController(0.05, 0.0, 0.0)) {
controller.enableContinuousInput(-kRange / 2, kRange / 2);
assertTrue(controller.atSetpoint());
assertFalse(controller.atSetpoint());
}
}
@@ -28,10 +28,7 @@ class PIDToleranceTest {
try (var controller = new PIDController(0.05, 0.0, 0.0)) {
controller.enableContinuousInput(-kRange / 2, kRange / 2);
assertTrue(
controller.atSetpoint(),
"Error was not in tolerance when it should have been. Error was "
+ controller.getPositionError());
assertFalse(controller.atSetpoint());
controller.setTolerance(kTolerance);
controller.setSetpoint(kSetpoint);

6
wpimath/src/test/native/cpp/controller/PIDToleranceTest.cpp
View File

@@ -13,16 +13,14 @@ TEST(PIDToleranceTest, InitialTolerance) {
frc2::PIDController controller{0.5, 0.0, 0.0};
controller.EnableContinuousInput(-kRange / 2, kRange / 2);
EXPECT_TRUE(controller.AtSetpoint());
EXPECT_FALSE(controller.AtSetpoint());
}
TEST(PIDToleranceTest, AbsoluteTolerance) {
frc2::PIDController controller{0.5, 0.0, 0.0};
controller.EnableContinuousInput(-kRange / 2, kRange / 2);
EXPECT_TRUE(controller.AtSetpoint())
<< "Error was not in tolerance when it should have been. Error was "
<< controller.GetPositionError();
EXPECT_FALSE(controller.AtSetpoint());
controller.SetTolerance(kTolerance);
controller.SetSetpoint(kSetpoint);