Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-22 01:11:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Remove PIDControllerRunner and mutex from new PIDController (#1795)

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

52
wpilibj/src/test/java/edu/wpi/first/wpilibj/PIDToleranceTest.java
View File

@@ -12,14 +12,12 @@ import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.PIDControllerRunner;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
class PIDToleranceTest {
private PIDController m_pidController;
private PIDControllerRunner m_pidRunner;
private static final double m_setpoint = 50.0;
private static final double m_tolerance = 10.0;
private static final double m_range = 200;
@@ -42,7 +40,6 @@ class PIDToleranceTest {
void setUp() {
m_inp = new FakeInput();
m_pidController = new PIDController(0.05, 0.0, 0.0);
m_pidRunner = new PIDControllerRunner(m_pidController, m_inp::getMeasurement, x -> { });
m_pidController.setInputRange(-m_range / 2, m_range / 2);
}
@@ -61,42 +58,53 @@ class PIDToleranceTest {
void absoluteToleranceTest() {
m_pidController.setAbsoluteTolerance(m_tolerance);
m_pidController.setSetpoint(m_setpoint);
m_pidRunner.enable();
Timer.delay(1);
for (int i = 0; i < 50; i++) {
m_pidController.calculate(m_inp.getMeasurement());
}
assertFalse(m_pidController.atSetpoint(),
"Error was in tolerance when it should not have been. Error was "
+ m_pidController.getError());
"Error was in tolerance when it should not have been. Error was " + m_pidController
.getError());
m_inp.m_val = m_setpoint + m_tolerance / 2;
Timer.delay(1.0);
for (int i = 0; i < 50; i++) {
m_pidController.calculate(m_inp.getMeasurement());
}
assertTrue(m_pidController.atSetpoint(),
"Error was not in tolerance when it should have been. Error was "
+ m_pidController.getError());
"Error was not in tolerance when it should have been. Error was " + m_pidController
.getError());
m_inp.m_val = m_setpoint + 10 * m_tolerance;
Timer.delay(1.0);
for (int i = 0; i < 50; i++) {
m_pidController.calculate(m_inp.getMeasurement());
}
assertFalse(m_pidController.atSetpoint(),
"Error was in tolerance when it should not have been. Error was "
+ m_pidController.getError());
"Error was in tolerance when it should not have been. Error was " + m_pidController
.getError());
}
@Test
void percentToleranceTest() {
m_pidController.setPercentTolerance(m_tolerance);
m_pidController.setSetpoint(m_setpoint);
m_pidRunner.enable();
for (int i = 0; i < 50; i++) {
m_pidController.calculate(m_inp.getMeasurement());
}
assertFalse(m_pidController.atSetpoint(),
"Error was in tolerance when it should not have been. Error was "
+ m_pidController.getError());
"Error was in tolerance when it should not have been. Error was " + m_pidController
.getError());
//half of percent tolerance away from setPoint
m_inp.m_val = m_setpoint + m_tolerance / 200 * m_range;
Timer.delay(1.0);
for (int i = 0; i < 50; i++) {
m_pidController.calculate(m_inp.getMeasurement());
}
assertTrue(m_pidController.atSetpoint(),
"Error was not in tolerance when it should have been. Error was "
+ m_pidController.getError());
"Error was not in tolerance when it should have been. Error was " + m_pidController
.getError());
//double percent tolerance away from setPoint
m_inp.m_val = m_setpoint + m_tolerance / 50 * m_range;
Timer.delay(1.0);
for (int i = 0; i < 50; i++) {
m_pidController.calculate(m_inp.getMeasurement());
}
assertFalse(m_pidController.atSetpoint(),
"Error was in tolerance when it should not have been. Error was "
+ m_pidController.getError());
"Error was in tolerance when it should not have been. Error was " + m_pidController
.getError());
}
}