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[wpilib] PIDController: Recompute the error in AtSetpoint() (#2822)

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This makes AtSetpoint() return false after the setpoint is changed with
SetSetpoint().

Closes #2821.

Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
This commit is contained in:
Tyler Veness
2020-11-28 14:33:17 -08:00
committed by GitHub
parent 2056f0ce09
commit 3413bfc06a
5 changed files with 45 additions and 5 deletions
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10
wpilibc/src/test/native/cpp/controller/PIDToleranceTest.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2014-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -23,9 +23,17 @@ 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();
controller.SetTolerance(kTolerance);
controller.SetSetpoint(kSetpoint);
EXPECT_FALSE(controller.AtSetpoint())
<< "Error was in tolerance when it should not have been. Error was "
<< controller.GetPositionError();
controller.Calculate(0.0);
EXPECT_FALSE(controller.AtSetpoint())