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Add return-to-zero test for LinearDigitalFilter moving average (#751)

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Ensures LinearDigitalFilter moving average returns to zero after non-zero
values are inserted.

Tests for issue #642
This commit is contained in:
Tyler Veness
2017-11-19 20:16:09 -08:00
committed by Peter Johnson
parent 11f37683c3
commit 7a0dd9baa9
4 changed files with 89 additions and 39 deletions
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31
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java
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@@ -387,8 +387,9 @@ public final class TestBench {
public FilterOutputFixture<LinearDigitalFilter> getSinglePoleIIROutputFixture() {
return new FilterOutputFixture<LinearDigitalFilter>(kSinglePoleIIRExpectedOutput) {
@Override
protected LinearDigitalFilter giveFilter(PIDSource source) {
return LinearDigitalFilter.singlePoleIIR(source,
protected LinearDigitalFilter giveFilter() {
DataWrapper data = new DataWrapper(getData);
return LinearDigitalFilter.singlePoleIIR(data,
kSinglePoleIIRTimeConstant,
kFilterStep);
}
@@ -403,8 +404,9 @@ public final class TestBench {
public FilterOutputFixture<LinearDigitalFilter> getHighPassOutputFixture() {
return new FilterOutputFixture<LinearDigitalFilter>(kHighPassExpectedOutput) {
@Override
protected LinearDigitalFilter giveFilter(PIDSource source) {
return LinearDigitalFilter.highPass(source, kHighPassTimeConstant,
protected LinearDigitalFilter giveFilter() {
DataWrapper data = new DataWrapper(getData);
return LinearDigitalFilter.highPass(data, kHighPassTimeConstant,
kFilterStep);
}
};
@@ -419,8 +421,25 @@ public final class TestBench {
public FilterOutputFixture<LinearDigitalFilter> getMovAvgOutputFixture() {
return new FilterOutputFixture<LinearDigitalFilter>(kMovAvgExpectedOutput) {
@Override
protected LinearDigitalFilter giveFilter(PIDSource source) {
return LinearDigitalFilter.movingAverage(source, kMovAvgTaps);
protected LinearDigitalFilter giveFilter() {
DataWrapper data = new DataWrapper(getData);
return LinearDigitalFilter.movingAverage(data, kMovAvgTaps);
}
};
}
/**
* Constructs a new set of objects representing a moving average filter with a repeatable data
* source using a linear digital filter.
*
* @return a moving average filter with a repeatable data source
*/
public FilterOutputFixture<LinearDigitalFilter> getPulseFixture() {
return new FilterOutputFixture<LinearDigitalFilter>(0.0) {
@Override
protected LinearDigitalFilter giveFilter() {
DataWrapper data = new DataWrapper(getPulseData);
return LinearDigitalFilter.movingAverage(data, kMovAvgTaps);
}
};
}