Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-25 01:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

artf4127: Implemented velocity PID controller

Browse Source 
Change-Id: I8c0f84422f7ca0ac5c50fddb282fb3452ee1d491
This commit is contained in:
Tyler Veness
2015-07-14 20:37:52 -07:00
parent f0e3bb5164
commit d5922bb037
43 changed files with 532 additions and 241 deletions
Download Patch File Download Diff File Expand all files Collapse all files

28
wpilibc/wpilibC++IntegrationTests/src/MotorEncoderTest.cpp
View File

@@ -122,11 +122,12 @@ TEST_P(MotorEncoderTest, ClampSpeed) {
}
/**
* Test if PID loops work
* Test if position PID loop works
*/
TEST_P(MotorEncoderTest, PIDController) {
TEST_P(MotorEncoderTest, PositionPIDController) {
Reset();
m_encoder->SetPIDSourceType(PIDSourceType::kDisplacement);
PIDController pid(0.001f, 0.0005f, 0.0f, m_encoder, m_speedController);
pid.SetAbsoluteTolerance(20.0f);
pid.SetOutputRange(-0.3f, 0.3f);
@@ -142,6 +143,29 @@ TEST_P(MotorEncoderTest, PIDController) {
EXPECT_TRUE(pid.OnTarget()) << "PID loop did not converge within 10 seconds.";
}
/**
* Test if velocity PID loop works
*/
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);
pid.SetOutputRange(-0.3f, 0.3f);
pid.SetSetpoint(30);
/* 10 seconds should be plenty time to get to the setpoint */
pid.Enable();
Wait(10.0);
RecordProperty("PIDError", pid.GetError());
EXPECT_TRUE(pid.OnTarget()) << "PID loop did not converge within 10 seconds.";
pid.Disable();
}
/**
* Test resetting encoders
*/