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

5
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java
View File

@@ -19,6 +19,7 @@ import java.util.Arrays;
import java.util.Collection;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.filters.LinearDigitalFilter;
import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.test.TestBench;
@@ -194,10 +195,10 @@ public class MotorEncoderTest extends AbstractComsSetup {
@Test
public void testVelocityPIDController() {
me.getEncoder().setPIDSourceType(PIDSourceType.kRate);
LinearDigitalFilter filter = LinearDigitalFilter.movingAverage(me.getEncoder(), 50);
PIDController pid =
new PIDController(1e-5, 0.0, 3e-5, 8e-5, me.getEncoder(), me.getMotor());
new PIDController(1e-5, 0.0, 3e-5, 8e-5, filter, me.getMotor());
pid.setAbsoluteTolerance(200);
pid.setToleranceBuffer(50);
pid.setOutputRange(-0.3, 0.3);
pid.setSetpoint(600);