Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-05 03:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] PIDController: Update field and method names for error and errorDerivative (#7088)

Browse Source
This commit is contained in:
Nicholas Armstrong
2024-09-23 13:57:20 -04:00
committed by GitHub
parent 64e5e6db59
commit 6281ec0810
9 changed files with 192 additions and 91 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
wpimath/src/test/java/edu/wpi/first/math/controller/PIDToleranceTest.java
View File

@@ -36,28 +36,28 @@ class PIDToleranceTest {
assertFalse(
controller.atSetpoint(),
"Error was in tolerance when it should not have been. Error was "
+ controller.getPositionError());
+ controller.getError());
controller.calculate(0.0);
assertFalse(
controller.atSetpoint(),
"Error was in tolerance when it should not have been. Error was "
+ controller.getPositionError());
+ controller.getError());
controller.calculate(kSetpoint + kTolerance / 2);
assertTrue(
controller.atSetpoint(),
"Error was not in tolerance when it should have been. Error was "
+ controller.getPositionError());
+ controller.getError());
controller.calculate(kSetpoint + 10 * kTolerance);
assertFalse(
controller.atSetpoint(),
"Error was in tolerance when it should not have been. Error was "
+ controller.getPositionError());
+ controller.getError());
}
}
}

8
wpimath/src/test/native/cpp/controller/PIDToleranceTest.cpp
View File

@@ -28,23 +28,23 @@ TEST(PIDToleranceTest, AbsoluteTolerance) {
EXPECT_FALSE(controller.AtSetpoint())
<< "Error was in tolerance when it should not have been. Error was "
<< controller.GetPositionError();
<< controller.GetError();
controller.Calculate(0.0);
EXPECT_FALSE(controller.AtSetpoint())
<< "Error was in tolerance when it should not have been. Error was "
<< controller.GetPositionError();
<< controller.GetError();
controller.Calculate(kSetpoint + kTolerance / 2);
EXPECT_TRUE(controller.AtSetpoint())
<< "Error was not in tolerance when it should have been. Error was "
<< controller.GetPositionError();
<< controller.GetError();
controller.Calculate(kSetpoint + 10 * kTolerance);
EXPECT_FALSE(controller.AtSetpoint())
<< "Error was in tolerance when it should not have been. Error was "
<< controller.GetPositionError();
<< controller.GetError();
}