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Makes the PID Test run 10 times in order to determine how many times it fails out of 10 runs per motor. (Unstable Test!)

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Change-Id: I74b62f6b9ff0b932b7118562c38e8c5c9d0960f9
This commit is contained in:
Jonathan Leitschuh
2014-06-12 18:02:09 -04:00
parent a46c246587
commit a4708d850c
1 changed files with 42 additions and 13 deletions
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55
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
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@@ -8,6 +8,7 @@ package edu.wpi.first.wpilibj;
import static org.junit.Assert.*;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Collection;
import java.util.logging.Logger;
@@ -17,7 +18,10 @@ import org.junit.AfterClass;
import org.junit.Before;
import org.junit.BeforeClass;
import org.junit.Ignore;
import org.junit.Rule;
import org.junit.Test;
import org.junit.rules.TestWatcher;
import org.junit.runner.Description;
import org.junit.runner.RunWith;
import org.junit.runners.Parameterized;
import org.junit.runners.Parameterized.Parameters;
@@ -41,21 +45,43 @@ public class PIDTest extends AbstractComsSetup {
private PIDController controller = null;
private static MotorEncoderFixture me = null;
public PIDTest(MotorEncoderFixture mef){
private final Double p;
private final Double i;
private final Double d;
@Rule
public TestWatcher testWatcher = new TestWatcher() {
protected void failed(Throwable e, Description description) {
System.out.println();
logger.severe("" + description.getDisplayName() + " failed " + e.getMessage());
super.failed(e, description);
}
};
public PIDTest(Double p, Double i, Double d, MotorEncoderFixture mef){
logger.fine("Constructor with: " + mef.getType());
if(PIDTest.me != null && !PIDTest.me.equals(mef)) PIDTest.me.teardown();
PIDTest.me = mef;
this.p = p;
this.i = i;
this.d = d;
}
@Parameters
public static Collection<MotorEncoderFixture[]> generateData(){
public static Collection<Object[]> generateData(){
//logger.fine("Loading the MotorList");
return Arrays.asList(new MotorEncoderFixture[][]{
{TestBench.getInstance().getTalonPair()},
{TestBench.getInstance().getVictorPair()},
{TestBench.getInstance().getJaguarPair()}
// TestBench.getInstance().getCanJaguarPair()
});
Collection<Object[]> data = new ArrayList<Object[]>();
double kp = 0.0035;
double ki = 0.001;
double kd = 0.0;
for(int i = 0; i < 10; i++){
data.addAll(Arrays.asList(new Object[][]{
{kp, ki, kd, TestBench.getInstance().getTalonPair()},
{kp, ki, kd, TestBench.getInstance().getVictorPair()},
{kp, ki, kd, TestBench.getInstance().getJaguarPair()}}));
}
return data;
}
/**
@@ -81,7 +107,7 @@ public class PIDTest extends AbstractComsSetup {
public void setUp() throws Exception {
logger.fine("Setup: " + me.getType());
me.setup();
controller = new PIDController(0.003, .001, 0, me.getEncoder(), me.getMotor());
controller = new PIDController(p, i, d, me.getEncoder(), me.getMotor());
controller.setAbsoluteTolerance(15);
controller.setOutputRange(-0.2, 0.2);
}
@@ -116,14 +142,17 @@ public class PIDTest extends AbstractComsSetup {
@Test (timeout = 6000)
public void testRotateToTarget() {
double setpoint = 2500.0;
System.out.println("Entering testRotateToTarget");
assertEquals("PID did not start at 0", 0, controller.get(), 0);
assertEquals(pidData() + "did not start at 0", 0, controller.get(), 0);
controller.setSetpoint(setpoint);
assertEquals("PID did not have an error of " + setpoint, setpoint, controller.getError(), 0);
assertEquals(pidData() +"did not have an error of " + setpoint, setpoint, controller.getError(), 0);
controller.enable();
Timer.delay(5);
controller.disable();
assertTrue("PID Controller Error: " + controller.getError(), controller.onTarget());
assertTrue(pidData() + "Controller Error: " + controller.getError(), controller.onTarget());
}
private String pidData(){
return me.getType() + " PID {P:" +controller.getP() + " I:" + controller.getI() + " D:" + controller.getD() +"} ";
}
}