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

Re-adjusted some PID values for the tests.

Browse Source 
Change-Id: I95623307c2a0b86003acbbcd029768fae5d4689e
This commit is contained in:
James Kuszmaul
2015-06-23 10:55:59 -04:00
parent 3de0f162bf
commit ee824680d2
2 changed files with 27 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java
View File

@@ -107,7 +107,7 @@ public class MotorEncoderTest extends AbstractComsSetup {
assertTrue(me.getType() + " Encoder not incremented: start: "
+ startValue + "; current: " + currentValue,
startValue < currentValue);
}
/**
@@ -172,7 +172,7 @@ public class MotorEncoderTest extends AbstractComsSetup {
public void testPIDController() {
PIDController pid = new PIDController(0.003, 0.001, 0, me.getEncoder(),
me.getMotor());
pid.setAbsoluteTolerance(15);
pid.setAbsoluteTolerance(50);
pid.setOutputRange(-0.2, 0.2);
pid.setSetpoint(2500);

50
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
View File

@@ -43,21 +43,21 @@ import edu.wpi.first.wpilibj.test.TestBench;
public class PIDTest extends AbstractComsSetup {
private static final Logger logger = Logger.getLogger(PIDTest.class.getName());
private NetworkTable table;
private static final double absoluteTollerance = 20;
private static final double outputRange = 0.3;
private static final double absoluteTolerance = 50;
private static final double outputRange = 0.3;
private PIDController controller = null;
private static MotorEncoderFixture me = null;
private final Double k_p, k_i, k_d;
@Override
protected Logger getClassLogger(){
return logger;
}
public PIDTest(Double p, Double i, Double d, MotorEncoderFixture mef){
logger.fine("Constructor with: " + mef.getType());
if(PIDTest.me != null && !PIDTest.me.equals(mef)) PIDTest.me.teardown();
@@ -66,8 +66,8 @@ public class PIDTest extends AbstractComsSetup {
this.k_i = i;
this.k_d = d;
}
@Parameters
public static Collection<Object[]> generateData(){
//logger.fine("Loading the MotorList");
@@ -124,17 +124,17 @@ public class PIDTest extends AbstractComsSetup {
controller = null;
me.reset();
}
private void setupAbsoluteTollerance(){
controller.setAbsoluteTolerance(absoluteTollerance);
private void setupAbsoluteTolerance(){
controller.setAbsoluteTolerance(absoluteTolerance);
}
private void setupOutputRange(){
controller.setOutputRange(-outputRange, outputRange);
}
@Test
public void testInitialSettings(){
setupAbsoluteTollerance();
setupAbsoluteTolerance();
setupOutputRange();
double setpoint = 2500.0;
controller.setSetpoint(setpoint);
@@ -146,10 +146,10 @@ public class PIDTest extends AbstractComsSetup {
assertEquals(setpoint, table.getNumber("setpoint"), 0);
assertFalse(table.getBoolean("enabled"));
}
@Test
public void testRestartAfterEnable(){
setupAbsoluteTollerance();
setupAbsoluteTolerance();
setupOutputRange();
double setpoint = 2500.0;
controller.setSetpoint(setpoint);
@@ -163,10 +163,10 @@ public class PIDTest extends AbstractComsSetup {
assertFalse(controller.isEnable());
assertEquals(0, me.getMotor().get(), 0);
}
@Test
public void testSetSetpoint(){
setupAbsoluteTollerance();
setupAbsoluteTolerance();
setupOutputRange();
Double setpoint = 2500.0;
controller.disable();
@@ -175,27 +175,27 @@ public class PIDTest extends AbstractComsSetup {
assertEquals("Did not correctly set set-point",setpoint, new Double(controller.getSetpoint()));
}
@Test (timeout = 15000)
@Test (timeout = 10000)
public void testRotateToTarget() {
setupAbsoluteTollerance();
setupAbsoluteTolerance();
setupOutputRange();
double setpoint = 2500.0;
assertEquals(pidData() + "did not start at 0", 0, controller.get(), 0);
controller.setSetpoint(setpoint);
assertEquals(pidData() +"did not have an error of " + setpoint, setpoint, controller.getError(), 0);
controller.enable();
Timer.delay(10);
Timer.delay(5);
controller.disable();
assertTrue(pidData() + "Was not on Target. Controller Error: " + controller.getError(), controller.onTarget());
}
private String pidData(){
return me.getType() + " PID {P:" +controller.getP() + " I:" + controller.getI() + " D:" + controller.getD() +"} ";
}
@Test(expected = RuntimeException.class)
public void testOnTargetNoTolleranceSet(){
public void testOnTargetNoToleranceSet(){
setupOutputRange();
controller.onTarget();
}