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Remove PIDControllerRunner and mutex from new PIDController (#1795)

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Teams that wish to use it asynchronously may still do so - they simply need to handle the thread safety themselves (it is not that difficult, and can be done more cleanly in the calling code anyway).
This commit is contained in:
Oblarg
2019-08-04 03:01:11 -04:00
committed by Peter Johnson
parent 98d0706de8
commit c9873e81b2
11 changed files with 165 additions and 706 deletions
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28
wpilibc/src/test/native/cpp/PIDToleranceTest.cpp
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@@ -7,7 +7,6 @@
#include "frc/Timer.h"
#include "frc/controller/PIDController.h"
#include "frc/controller/PIDControllerRunner.h"
#include "gtest/gtest.h"
using namespace frc;
@@ -33,20 +32,13 @@ class PIDToleranceTest : public testing::Test {
FakeInput inp;
FakeOutput out;
frc2::PIDController* pidController;
frc::PIDControllerRunner* pidRunner;
void SetUp() override {
pidController = new frc2::PIDController(0.5, 0.0, 0.0);
pidController->SetInputRange(-range / 2, range / 2);
pidRunner =
new frc::PIDControllerRunner(*pidController, [&] { return inp.Get(); },
[&](double output) { out.Set(output); });
}
void TearDown() override {
delete pidRunner;
delete pidController;
}
void TearDown() override { delete pidController; }
void Reset() { inp.val = 0; }
};
@@ -58,21 +50,24 @@ TEST_F(PIDToleranceTest, Absolute) {
pidController->SetAbsoluteTolerance(tolerance);
pidController->SetSetpoint(setpoint);
pidRunner->Enable();
EXPECT_FALSE(pidController->AtSetpoint())
<< "Error was in tolerance when it should not have been. Error was "
<< pidController->GetError();
inp.val = setpoint + tolerance / 2;
Wait(1.0);
for (int i = 0; i <= 50; i++) {
pidController->Calculate(inp.Get());
}
EXPECT_TRUE(pidController->AtSetpoint())
<< "Error was not in tolerance when it should have been. Error was "
<< pidController->GetError();
inp.val = setpoint + 10 * tolerance;
Wait(1.0);
for (int i = 0; i <= 50; i++) {
pidController->Calculate(inp.Get());
}
EXPECT_FALSE(pidController->AtSetpoint())
<< "Error was in tolerance when it should not have been. Error was "
@@ -84,7 +79,6 @@ TEST_F(PIDToleranceTest, Percent) {
pidController->SetPercentTolerance(tolerance);
pidController->SetSetpoint(setpoint);
pidRunner->Enable();
EXPECT_FALSE(pidController->AtSetpoint())
<< "Error was in tolerance when it should not have been. Error was "
@@ -93,7 +87,9 @@ TEST_F(PIDToleranceTest, Percent) {
inp.val =
setpoint + (tolerance) / 200 *
range; // half of percent tolerance away from setpoint
Wait(1.0);
for (int i = 0; i <= 50; i++) {
pidController->Calculate(inp.Get());
}
EXPECT_TRUE(pidController->AtSetpoint())
<< "Error was not in tolerance when it should have been. Error was "
@@ -103,7 +99,9 @@ TEST_F(PIDToleranceTest, Percent) {
setpoint +
(tolerance) / 50 * range; // double percent tolerance away from setPoint
Wait(1.0);
for (int i = 0; i <= 50; i++) {
pidController->Calculate(inp.Get());
}
EXPECT_FALSE(pidController->AtSetpoint())
<< "Error was in tolerance when it should not have been. Error was "