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Make MotorEncoderTest use LinearFilter (#1775)

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Closes #1774
This also eliminates the call to the deprecated setPIDSourceType method.
This commit is contained in:
Prateek Machiraju
2019-07-24 02:59:06 -04:00
committed by Peter Johnson
parent ee24101696
commit a885db7d48
2 changed files with 8 additions and 10 deletions
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10
wpilibcIntegrationTests/src/main/native/cpp/MotorEncoderTest.cpp
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@@ -8,12 +8,12 @@
#include "TestBench.h"
#include "frc/Encoder.h"
#include "frc/Jaguar.h"
#include "frc/LinearFilter.h"
#include "frc/Talon.h"
#include "frc/Timer.h"
#include "frc/Victor.h"
#include "frc/controller/PIDController.h"
#include "frc/controller/PIDControllerRunner.h"
#include "frc/filters/LinearDigitalFilter.h"
#include "gtest/gtest.h"
using namespace frc;
@@ -46,7 +46,7 @@ class MotorEncoderTest : public testing::TestWithParam<MotorEncoderTestType> {
protected:
SpeedController* m_speedController;
Encoder* m_encoder;
LinearDigitalFilter* m_filter;
LinearFilter* m_filter;
void SetUp() override {
switch (GetParam()) {
@@ -68,8 +68,7 @@ class MotorEncoderTest : public testing::TestWithParam<MotorEncoderTestType> {
TestBench::kTalonEncoderChannelB);
break;
}
m_filter = new LinearDigitalFilter(
LinearDigitalFilter::MovingAverage(*m_encoder, 50));
m_filter = new LinearFilter(LinearFilter::MovingAverage(50));
}
void TearDown() override {
@@ -166,7 +165,6 @@ TEST_P(MotorEncoderTest, PositionPIDController) {
TEST_P(MotorEncoderTest, VelocityPIDController) {
Reset();
m_encoder->SetPIDSourceType(PIDSourceType::kRate);
frc2::PIDController pidController(1e-5, 0.0, 0.0006);
pidController.SetAbsoluteTolerance(200.0);
pidController.SetOutputRange(-0.3, 0.3);
@@ -174,7 +172,7 @@ TEST_P(MotorEncoderTest, VelocityPIDController) {
/* 10 seconds should be plenty time to get to the reference */
frc::PIDControllerRunner pidRunner(
pidController, [&] { return m_filter->PIDGet(); },
pidController, [&] { return m_filter->Calculate(m_encoder->GetRate()); },
[&](double output) { m_speedController->Set(output + 8e-5); });
pidRunner.Enable();
Wait(10.0);

8
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java
View File

@@ -21,7 +21,6 @@ import org.junit.runners.Parameterized.Parameters;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.PIDControllerRunner;
import edu.wpi.first.wpilibj.filters.LinearDigitalFilter;
import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.test.TestBench;
@@ -197,15 +196,16 @@ public class MotorEncoderTest extends AbstractComsSetup {
@Test
public void testVelocityPIDController() {
me.getEncoder().setPIDSourceType(PIDSourceType.kRate);
LinearDigitalFilter filter = LinearDigitalFilter.movingAverage(me.getEncoder(), 50);
LinearFilter filter = LinearFilter.movingAverage(50);
PIDController pidController = new PIDController(1e-5, 0.0, 0.0006);
pidController.setAbsoluteTolerance(200);
pidController.setOutputRange(-0.3, 0.3);
pidController.setSetpoint(600);
PIDControllerRunner pidRunner = new PIDControllerRunner(pidController, filter::pidGet,
PIDControllerRunner pidRunner = new PIDControllerRunner(pidController,
() -> filter.calculate(me.getEncoder().getRate()),
output -> me.getMotor().set(output + 8e-5));
pidRunner.enable();
Timer.delay(10.0);
pidRunner.disable();