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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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88
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDToleranceTest.java Normal file
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package edu.wpi.first.wpilibj;
import java.util.logging.Logger;
import org.junit.After;
import org.junit.Before;
import org.junit.Test;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
public class PIDToleranceTest extends AbstractComsSetup {
private static final Logger logger = Logger.getLogger(PIDToleranceTest.class.getName());
private PIDController pid;
private final double setPoint = 50.0;
private final double tolerance = 10.0;
private final double range = 200;
private class fakeInput implements PIDSource{
public double val;
public fakeInput(){
val = 0;
}
@Override
public PIDSourceType getPIDSourceType() {
return PIDSourceType.kDisplacement;
}
@Override
public double pidGet() {
return val;
}
@Override
public void setPIDSourceType(PIDSourceType arg0) {}
};
private fakeInput inp;
private PIDOutput out = new PIDOutput(){
@Override
public void pidWrite(double out) {
}
};
@Override
protected Logger getClassLogger() {
return logger;
}
@Before
public void setUp() throws Exception{
inp = new fakeInput();
pid = new PIDController(0.05,0.0,0.0,inp,out);
pid.setInputRange(-range/2, range/2);
}
@After
public void tearDown() throws Exception{
pid.free();
pid = null;
}
@Test
public void testAbsoluteTolerance(){
pid.setAbsoluteTolerance(tolerance);
pid.setSetpoint(setPoint);
pid.enable();
Timer.delay(1);
assertFalse("Error was in tolerance when it should not have been. Error was "+pid.getAvgError(),pid.onTarget());
inp.val = setPoint+tolerance/2;
Timer.delay(1.0);
assertTrue("Error was not in tolerance when it should have been. Error was "+pid.getAvgError(),pid.onTarget());
inp.val = setPoint + 10*tolerance;
Timer.delay(1.0);
assertFalse("Error was in tolerance when it should not have been. Error was "+pid.getAvgError(),pid.onTarget());
}
@Test
public void testPercentTolerance(){
pid.setPercentTolerance(tolerance);
pid.setSetpoint(setPoint);
pid.enable();
assertFalse("Error was in tolerance when it should not have been. Error was "+pid.getAvgError(),pid.onTarget());
inp.val = setPoint+(tolerance)/200*range;//half of percent tolerance away from setPoint
Timer.delay(1.0);
assertTrue("Error was not in tolerance when it should have been. Error was "+pid.getAvgError(),pid.onTarget());
inp.val = setPoint + (tolerance)/50*range;//double percent tolerance away from setPoint
Timer.delay(1.0);
assertFalse("Error was in tolerance when it should not have been. Error was "+pid.getAvgError(),pid.onTarget());
}
}