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Fixed the motor tests by reducing speed to within the limits of the encoders we use. Also fixed java pid tolerances since getAvgError() was broken. It is now fixed and works properly. Added tests for both java and cpp that test if pid tolerances are working using fake input output pairs.

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Change-Id: I5bf23dbbdab996c582e1035fc2b2f36dd5f52417
This commit is contained in:
Patrick
2016-01-28 14:25:39 -05:00
parent c6ff69079a
commit 7041cbc5eb
12 changed files with 207 additions and 41 deletions
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28
wpilibcIntegrationTests/src/MotorEncoderTest.cpp
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@@ -84,7 +84,7 @@ TEST_P(MotorEncoderTest, Increment) {
Reset();
/* Drive the speed controller briefly to move the encoder */
m_speedController->Set(1.0);
m_speedController->Set(0.2f);
Wait(kMotorTime);
m_speedController->Set(0.0);
@@ -100,7 +100,7 @@ TEST_P(MotorEncoderTest, Decrement) {
Reset();
/* Drive the speed controller briefly to move the encoder */
m_speedController->Set(-1.0f);
m_speedController->Set(-0.2f);
Wait(kMotorTime);
m_speedController->Set(0.0f);
@@ -131,12 +131,12 @@ TEST_P(MotorEncoderTest, ClampSpeed) {
*/
TEST_P(MotorEncoderTest, PositionPIDController) {
Reset();
double goal = 1000;
m_encoder->SetPIDSourceType(PIDSourceType::kDisplacement);
PIDController pid(0.001f, 0.0005f, 0.0f, m_encoder, m_speedController);
pid.SetAbsoluteTolerance(20.0f);
pid.SetOutputRange(-0.3f, 0.3f);
pid.SetSetpoint(2500);
pid.SetAbsoluteTolerance(50.0f);
pid.SetOutputRange(-0.2f, 0.2f);
pid.SetSetpoint(goal);
/* 10 seconds should be plenty time to get to the setpoint */
pid.Enable();
@@ -145,7 +145,7 @@ TEST_P(MotorEncoderTest, PositionPIDController) {
RecordProperty("PIDError", pid.GetError());
EXPECT_TRUE(pid.OnTarget()) << "PID loop did not converge within 10 seconds.";
EXPECT_TRUE(pid.OnTarget()) << "PID loop did not converge within 10 seconds. Goal was: "<<goal<<" Error was: "<<pid.GetError();
}
/**
@@ -156,20 +156,18 @@ TEST_P(MotorEncoderTest, VelocityPIDController) {
m_encoder->SetPIDSourceType(PIDSourceType::kRate);
PIDController pid(1e-5, 0.0f, 3e-5, 8e-5, m_encoder, m_speedController);
pid.SetAbsoluteTolerance(50.0f);
pid.SetToleranceBuffer(10);
pid.SetAbsoluteTolerance(200.0f);
pid.SetToleranceBuffer(50);
pid.SetOutputRange(-0.3f, 0.3f);
pid.SetSetpoint(2000);
pid.SetSetpoint(600);
/* 10 seconds should be plenty time to get to the setpoint */
pid.Enable();
Wait(10.0);
RecordProperty("PIDError", pid.GetAvgError());
EXPECT_TRUE(pid.OnTarget()) << "PID loop did not converge within 10 seconds. Goal was: " << 2000 << " Error was: " << pid.GetError();
pid.Disable();
RecordProperty("PIDError", pid.GetError());
EXPECT_TRUE(pid.OnTarget()) << "PID loop did not converge within 10 seconds. Goal was: " << 600 << " Error was: " << pid.GetError();
}
/**