Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Deprecated internal filter of PID controller (#746)

Browse Source 
This was replaced with an external LinearDigitalFilter.
This commit is contained in:
Tyler Veness
2017-12-04 20:05:02 -08:00
committed by Peter Johnson
parent b428d1e4b3
commit 59c4984ed6
5 changed files with 17 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
wpilibcIntegrationTests/src/FRCUserProgram/cpp/MotorEncoderTest.cpp
View File

@@ -6,6 +6,7 @@
/*----------------------------------------------------------------------------*/
#include "Encoder.h"
#include "Filters/LinearDigitalFilter.h"
#include "Jaguar.h"
#include "PIDController.h"
#include "Talon.h"
@@ -44,6 +45,7 @@ class MotorEncoderTest : public testing::TestWithParam<MotorEncoderTestType> {
protected:
SpeedController* m_speedController;
Encoder* m_encoder;
LinearDigitalFilter* m_filter;
void SetUp() override {
switch (GetParam()) {
@@ -65,16 +67,20 @@ class MotorEncoderTest : public testing::TestWithParam<MotorEncoderTestType> {
TestBench::kTalonEncoderChannelB);
break;
}
m_filter = new LinearDigitalFilter(LinearDigitalFilter::MovingAverage(
std::shared_ptr<PIDSource>(m_encoder, NullDeleter<PIDSource>()), 50));
}
void TearDown() override {
delete m_speedController;
delete m_encoder;
delete m_filter;
}
void Reset() {
m_speedController->Set(0.0);
m_encoder->Reset();
m_filter->Reset();
}
};
@@ -158,9 +164,8 @@ TEST_P(MotorEncoderTest, VelocityPIDController) {
Reset();
m_encoder->SetPIDSourceType(PIDSourceType::kRate);
PIDController pid(1e-5, 0.0, 3e-5, 8e-5, m_encoder, m_speedController);
PIDController pid(1e-5, 0.0, 3e-5, 8e-5, m_filter, m_speedController);
pid.SetAbsoluteTolerance(200.0);
pid.SetToleranceBuffer(50);
pid.SetOutputRange(-0.3, 0.3);
pid.SetSetpoint(600);