New 2018 and later build setup (#1001)

wpilibcIntegrationTests/src/main/native/cpp/PIDToleranceTest.cpp

@@ -0,0 +1,107 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2018 FIRST. 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 "PIDController.h"
+#include "PIDOutput.h"
+#include "PIDSource.h"
+#include "TestBench.h"
+#include "Timer.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+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(double output) {}
+  };
+
+  FakeInput inp;
+  FakeOutput out;
+  PIDController* pid;
+
+  void SetUp() override {
+    pid = new PIDController(0.5, 0.0, 0.0, &inp, &out);
+    pid->SetInputRange(-range / 2, range / 2);
+  }
+
+  void TearDown() override { delete pid; }
+
+  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->GetError();
+
+  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->GetError();
+
+  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->GetError();
+}
+
+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->GetError();
+
+  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->GetError();
+
+  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->GetError();
+}