Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Replace SetOutputRange() with SetIntegratorRange()

Browse Source 
If users are attempting to use the output range to limit the controller
action, they should use ProfiledPIDController instead. If they actually
intended to clamp the output, they should use std::clamp().
This commit is contained in:
Tyler Veness
2019-08-26 21:40:30 -07:00
committed by Peter Johnson
parent ff8b8f0a8a
commit 9b6ffc201c
11 changed files with 55 additions and 72 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
View File

@@ -45,7 +45,7 @@ public class PIDTest extends AbstractComsSetup {
private SendableBuilderImpl m_builder;
private static final double absoluteTolerance = 50;
private static final double outputRange = 0.25;
private static final double integratorRange = 0.25;
private PIDController m_controller = null;
private static MotorEncoderFixture<?> me = null;
@@ -121,14 +121,14 @@ public class PIDTest extends AbstractComsSetup {
m_controller.setTolerance(absoluteTolerance);
}
private void setupOutputRange() {
m_controller.setOutputRange(-outputRange, outputRange);
private void setupIntegratorRange() {
m_controller.setIntegratorRange(-integratorRange, integratorRange);
}
@Test
public void testInitialSettings() {
setupTolerance();
setupOutputRange();
setupIntegratorRange();
double reference = 2500.0;
m_controller.setSetpoint(reference);
assertEquals("PID.getPositionError() did not start at " + reference,
@@ -144,7 +144,7 @@ public class PIDTest extends AbstractComsSetup {
@Test
public void testSetSetpoint() {
setupTolerance();
setupOutputRange();
setupIntegratorRange();
double reference = 2500.0;
m_controller.setSetpoint(reference);
assertEquals("Did not correctly set reference", reference, m_controller.getSetpoint(), 1e-3);
@@ -153,7 +153,7 @@ public class PIDTest extends AbstractComsSetup {
@Test(timeout = 10000)
public void testRotateToTarget() {
setupTolerance();
setupOutputRange();
setupIntegratorRange();
double reference = 1000.0;
assertEquals(pidData() + "did not start at 0", 0, me.getMotor().get(), 0);
m_controller.setSetpoint(reference);
@@ -178,7 +178,7 @@ public class PIDTest extends AbstractComsSetup {
@Test(expected = RuntimeException.class)
public void testOnTargetNoToleranceSet() {
setupOutputRange();
setupIntegratorRange();
m_controller.atSetpoint();
}
}