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Tuned test constants for VelocityPID.

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Also added a GetAvgError method to the PIDController
which averages the past n error values for use with
noisy sensor values (namely, for the velocity stuff).

Change-Id: I8a9cf40259dd56ef9093b36ed6891cc18b9131cf
This commit is contained in:
James Kuszmaul
2015-07-16 14:45:07 -04:00
parent d5922bb037
commit cd4ebbd8a0
5 changed files with 127 additions and 15 deletions
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11
wpilibc/wpilibC++IntegrationTests/src/MotorEncoderTest.cpp
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@@ -150,18 +150,19 @@ TEST_P(MotorEncoderTest, VelocityPIDController) {
Reset();
m_encoder->SetPIDSourceType(PIDSourceType::kRate);
PIDController pid(0.002f, 0.0f, 0.0001f, m_encoder, m_speedController);
pid.SetAbsoluteTolerance(20.0f);
PIDController pid(1e-5, 0.0f, 3e-5, 8e-5, m_encoder, m_speedController);
pid.SetAbsoluteTolerance(50.0f);
pid.SetToleranceBuffer(10);
pid.SetOutputRange(-0.3f, 0.3f);
pid.SetSetpoint(30);
pid.SetSetpoint(2000);
/* 10 seconds should be plenty time to get to the setpoint */
pid.Enable();
Wait(10.0);
RecordProperty("PIDError", pid.GetError());
RecordProperty("PIDError", pid.GetAvgError());
EXPECT_TRUE(pid.OnTarget()) << "PID loop did not converge within 10 seconds.";
EXPECT_TRUE(pid.OnTarget()) << "PID loop did not converge within 10 seconds. Goal was: " << 2000 << " Error was: " << pid.GetError();
pid.Disable();
}