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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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79
wpilibcIntegrationTests/src/PIDToleranceTest.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2014-2016. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <Timer.h>
#include "gtest/gtest.h"
#include "TestBench.h"
#include "PIDSource.h"
#include "PIDController.h"
#include "PIDOutput.h"
class PIDToleranceTest : public testing::Test{
protected:
const double setpoint = 50.0;
const double range = 200;
const double tolerance = 10.0;
class fakeInput : public PIDSource{
public:
double val = 0;
void SetPIDSourceType(PIDSourceType pidSource){
}
PIDSourceType GetPIDSourceType(){
return PIDSourceType::kDisplacement;
}
double PIDGet(){;
return val;
}
};
class fakeOutput : public PIDOutput{
void PIDWrite(float output){
}
};
fakeInput inp;
fakeOutput out;
PIDController *pid;
virtual void SetUp() override {
pid = new PIDController(0.5,0.0,0.0,&inp,&out);
pid->SetInputRange(-range/2,range/2);
}
virtual void TearDown() override {
delete pid;
}
virtual void reset(){
inp.val = 0;
}
};
TEST_F(PIDToleranceTest, Absolute){
reset();
pid->SetAbsoluteTolerance(tolerance);
pid->SetSetpoint(setpoint);
pid->Enable();
EXPECT_FALSE(pid->OnTarget())<<"Error was in tolerance when it should not have been. Error was " << pid->GetAvgError();
inp.val = setpoint+tolerance/2;
Wait(1.0);
EXPECT_TRUE(pid->OnTarget())<<"Error was not in tolerance when it should have been. Error was " << pid->GetAvgError();
inp.val = setpoint+10*tolerance;
Wait(1.0);
EXPECT_FALSE(pid->OnTarget())<<"Error was in tolerance when it should not have been. Error was " << pid->GetAvgError();
}
TEST_F(PIDToleranceTest, Percent){
reset();
pid->SetPercentTolerance(tolerance);
pid->SetSetpoint(setpoint);
pid->Enable();
EXPECT_FALSE(pid->OnTarget())<<"Error was in tolerance when it should not have been. Error was " << pid->GetAvgError();
inp.val = setpoint+(tolerance)/200*range;//half of percent tolerance away from setpoint
Wait(1.0);
EXPECT_TRUE(pid->OnTarget())<<"Error was not in tolerance when it should have been. Error was " << pid->GetAvgError();
inp.val = setpoint+(tolerance)/50*range;//double percent tolerance away from setPoint
Wait(1.0);
EXPECT_FALSE(pid->OnTarget())<<"Error was in tolerance when it should not have been. Error was " << pid->GetAvgError();
}