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

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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
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8
wpimath/src/test/native/cpp/controller/PIDToleranceTest.cpp
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@@ -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();
}