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[wpimath] Report error on negative PID gains (#6055)

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Defaults PID gains to zero if any are invalid.
This commit is contained in:
Tyler Veness
2023-12-23 12:15:29 -08:00
committed by GitHub
parent 1dba26c937
commit 22a322c9f3
9 changed files with 92 additions and 48 deletions
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3
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java
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@@ -21,8 +21,7 @@ public class Robot extends TimedRobot {
static final double kHoldDistanceMillimeters = 1.0e3;
// proportional speed constant
// negative because applying positive voltage will bring us closer to the target
private static final double kP = -0.001;
private static final double kP = 0.001;
// integral speed constant
private static final double kI = 0.0;
// derivative speed constant

7
wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/UltrasonicPIDTest.java
View File

@@ -80,7 +80,7 @@ class UltrasonicPIDTest {
m_driveSim.update(0.02);
double startingDistance = m_startToObject;
double range = startingDistance - m_driveSim.getLeftPositionMeters();
double range = m_driveSim.getLeftPositionMeters() - startingDistance;
m_ultrasonicSim.setRangeMeters(range);
m_distanceMM = range * 1.0e3;
@@ -126,10 +126,9 @@ class UltrasonicPIDTest {
}
{
// advance 100 timesteps
SimHooks.stepTiming(2.0);
SimHooks.stepTiming(5.0);
assertEquals(Robot.kHoldDistanceMillimeters, m_distanceMM, 10);
assertEquals(Robot.kHoldDistanceMillimeters, m_distanceMM, 10.0);
}
}
}