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

Make MotorEncoderTest use LinearFilter (#1775)

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

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();