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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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13
wpilibj/src/shared/java/edu/wpi/first/wpilibj/PIDController.java
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@@ -6,7 +6,8 @@
package edu.wpi.first.wpilibj;
import java.util.TimerTask;
import java.util.LinkedList;
import java.util.ArrayDeque;
import java.util.Queue;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
@@ -42,7 +43,7 @@ public class PIDController implements PIDInterface, LiveWindowSendable, Controll
private Tolerance m_tolerance; // the tolerance object used to check if on
// target
private int m_bufLength = 1;
private LinkedList<Double> m_buf;
private Queue<Double> m_buf;
private double m_bufTotal = 0.0;
private double m_setpoint = 0.0;
private double m_prevSetpoint = 0.0;
@@ -162,7 +163,7 @@ public class PIDController implements PIDInterface, LiveWindowSendable, Controll
HLUsageReporting.reportPIDController(instances);
m_tolerance = new NullTolerance();
m_buf = new LinkedList<Double>();
m_buf = new ArrayDeque<Double>(m_bufLength+1);
}
/**
@@ -311,11 +312,11 @@ public class PIDController implements PIDInterface, LiveWindowSendable, Controll
result = m_result;
// Update the buffer.
m_buf.push(m_error);
m_buf.add(m_error);
m_bufTotal += m_error;
// Remove old elements when the buffer is full.
if (m_buf.size() > m_bufLength) {
m_bufTotal -= m_buf.pop();
m_bufTotal -= m_buf.remove();
}
}
@@ -646,7 +647,7 @@ public class PIDController implements PIDInterface, LiveWindowSendable, Controll
// Cut the existing buffer down to size if needed.
while (m_buf.size() > bufLength) {
m_bufTotal -= m_buf.pop();
m_bufTotal -= m_buf.remove();
}
}