Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-28 02:11:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

Merge "Upped the limits for the output on some PID tests."

Browse Source
This commit is contained in:
Brad Miller (WPI)
2014-11-07 08:31:59 -08:00
committed by Gerrit Code Review
parent 8d49d8255b 05bb3cdd71
commit 6e0637e771
2 changed files with 7 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
wpilibc/wpilibC++IntegrationTests/src/MotorEncoderTest.cpp
View File

@@ -124,9 +124,9 @@ TEST_P(MotorEncoderTest, ClampSpeed) {
TEST_P(MotorEncoderTest, PIDController) {
Reset();
PIDController pid(0.003f, 0.001f, 0.0f, m_encoder, m_speedController);
PIDController pid(0.001f, 0.0005f, 0.0f, m_encoder, m_speedController);
pid.SetAbsoluteTolerance(20.0f);
pid.SetOutputRange(-0.2f, 0.2f);
pid.SetOutputRange(-0.3f, 0.3f);
pid.SetSetpoint(2500);
/* 10 seconds should be plenty time to get to the setpoint */
@@ -136,7 +136,7 @@ TEST_P(MotorEncoderTest, PIDController) {
RecordProperty("PIDError", pid.GetError());
EXPECT_TRUE(pid.OnTarget()) << "PID loop did not converge within 5 seconds.";
EXPECT_TRUE(pid.OnTarget()) << "PID loop did not converge within 10 seconds.";
}
/**

8
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
View File

@@ -44,8 +44,8 @@ public class PIDTest extends AbstractComsSetup {
private static final Logger logger = Logger.getLogger(PIDTest.class.getName());
private NetworkTable table;
private static final double absoluteTollerance = 30;
private static final double outputRange = 0.2;
private static final double absoluteTollerance = 20;
private static final double outputRange = 0.3;
private PIDController controller = null;
private static MotorEncoderFixture me = null;
@@ -72,8 +72,8 @@ public class PIDTest extends AbstractComsSetup {
public static Collection<Object[]> generateData(){
//logger.fine("Loading the MotorList");
Collection<Object[]> data = new ArrayList<Object[]>();
double kp = 0.003;
double ki = 0.0015;
double kp = 0.001;
double ki = 0.0005;
double kd = 0.0;
for(int i = 0; i < 1; i++){
data.addAll(Arrays.asList(new Object[][]{