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PIDController class now uses LinearDigitalFilter for filtering velocity instead of internal queue (#38)

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This commit is contained in:
Tyler Veness
2017-11-19 15:58:30 -08:00
committed by Peter Johnson
parent 7f46b50b21
commit 4a07f0380f
8 changed files with 48 additions and 125 deletions
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12
wpilibcIntegrationTests/src/FRCUserProgram/cpp/PIDToleranceTest.cpp
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@@ -58,21 +58,21 @@ TEST_F(PIDToleranceTest, Absolute) {
EXPECT_FALSE(pid->OnTarget())
<< "Error was in tolerance when it should not have been. Error was "
<< pid->GetAvgError();
<< pid->GetError();
inp.val = setpoint + tolerance / 2;
Wait(1.0);
EXPECT_TRUE(pid->OnTarget())
<< "Error was not in tolerance when it should have been. Error was "
<< pid->GetAvgError();
<< pid->GetError();
inp.val = setpoint + 10 * tolerance;
Wait(1.0);
EXPECT_FALSE(pid->OnTarget())
<< "Error was in tolerance when it should not have been. Error was "
<< pid->GetAvgError();
<< pid->GetError();
}
TEST_F(PIDToleranceTest, Percent) {
@@ -84,7 +84,7 @@ TEST_F(PIDToleranceTest, Percent) {
EXPECT_FALSE(pid->OnTarget())
<< "Error was in tolerance when it should not have been. Error was "
<< pid->GetAvgError();
<< pid->GetError();
inp.val =
setpoint + (tolerance) / 200 *
@@ -93,7 +93,7 @@ TEST_F(PIDToleranceTest, Percent) {
EXPECT_TRUE(pid->OnTarget())
<< "Error was not in tolerance when it should have been. Error was "
<< pid->GetAvgError();
<< pid->GetError();
inp.val =
setpoint +
@@ -103,5 +103,5 @@ TEST_F(PIDToleranceTest, Percent) {
EXPECT_FALSE(pid->OnTarget())
<< "Error was in tolerance when it should not have been. Error was "
<< pid->GetAvgError();
<< pid->GetError();
}