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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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12
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java
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@@ -188,17 +188,19 @@ public class MotorEncoderTest extends AbstractComsSetup {
@Test
public void testVelocityPIDController() {
me.getEncoder().setPIDSourceType(PIDSourceType.kRate);
PIDController pid = new PIDController(0.002, 0, 0.0001, me.getEncoder(), me.getMotor());
pid.setAbsoluteTolerance(50);
pid.setOutputRange(-0.2, 0.2);
pid.setSetpoint(30);
PIDController pid =
new PIDController(1e-5, 0.0, 3e-5, 8e-5, me.getEncoder(), me.getMotor());
pid.setAbsoluteTolerance(200);
pid.setToleranceBuffer(50);
pid.setOutputRange(-0.3, 0.3);
pid.setSetpoint(2000);
pid.enable();
Timer.delay(10.0);
pid.disable();
assertTrue(
"PID loop did not reach setpoint within 10 seconds. The error was: " + pid.getError(),
"PID loop did not reach setpoint within 10 seconds. The error was: " + pid.getAvgError(),
pid.onTarget());
pid.free();