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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
wpilibj/src/test/java/edu/wpi/first/wpilibj/PIDToleranceTest.java
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@@ -77,15 +77,15 @@ public class PIDToleranceTest {
m_pid.enable();
Timer.delay(1);
assertFalse("Error was in tolerance when it should not have been. Error was "
+ m_pid.getAvgError(), m_pid.onTarget());
+ m_pid.getError(), m_pid.onTarget());
m_inp.m_val = m_setPoint + m_tolerance / 2;
Timer.delay(1.0);
assertTrue("Error was not in tolerance when it should have been. Error was "
+ m_pid.getAvgError(), m_pid.onTarget());
+ m_pid.getError(), m_pid.onTarget());
m_inp.m_val = m_setPoint + 10 * m_tolerance;
Timer.delay(1.0);
assertFalse("Error was in tolerance when it should not have been. Error was "
+ m_pid.getAvgError(), m_pid.onTarget());
+ m_pid.getError(), m_pid.onTarget());
}
@Test
@@ -94,16 +94,16 @@ public class PIDToleranceTest {
m_pid.setSetpoint(m_setPoint);
m_pid.enable();
assertFalse("Error was in tolerance when it should not have been. Error was "
+ m_pid.getAvgError(), m_pid.onTarget());
+ m_pid.getError(), m_pid.onTarget());
//half of percent tolerance away from setPoint
m_inp.m_val = m_setPoint + m_tolerance / 200 * m_range;
Timer.delay(1.0);
assertTrue("Error was not in tolerance when it should have been. Error was "
+ m_pid.getAvgError(), m_pid.onTarget());
+ m_pid.getError(), m_pid.onTarget());
//double percent tolerance away from setPoint
m_inp.m_val = m_setPoint + m_tolerance / 50 * m_range;
Timer.delay(1.0);
assertFalse("Error was in tolerance when it should not have been. Error was "
+ m_pid.getAvgError(), m_pid.onTarget());
+ m_pid.getError(), m_pid.onTarget());
}
}