From f7e8b95a2448ec4041db484cb9d4bf3db8875831 Mon Sep 17 00:00:00 2001 From: Jonathan Leitschuh Date: Wed, 22 Oct 2014 11:55:19 -0400 Subject: [PATCH] Increases tolerances for the PID tests The tolerance is now a little bit more loose but still demonstrates that the PID works correctly. Change-Id: I9ca74e66fd096c49be7de61f218d5651b0ca0586 --- .../src/main/java/edu/wpi/first/wpilibj/PIDTest.java | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java b/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java index 0cb0d68c8b..c29896ed28 100644 --- a/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java +++ b/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java @@ -44,9 +44,8 @@ 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 = 0.19; - + private static final double absoluteTollerance = 30; + private static final double outputRange = 0.2; private PIDController controller = null; private static MotorEncoderFixture me = null; @@ -173,7 +172,7 @@ public class PIDTest extends AbstractComsSetup { controller.disable(); controller.setSetpoint(setpoint); controller.enable(); - assertEquals(setpoint, new Double(controller.getSetpoint())); + assertEquals("Did not correctly set set-point",setpoint, new Double(controller.getSetpoint())); } @Test (timeout = 6000) @@ -187,7 +186,7 @@ public class PIDTest extends AbstractComsSetup { controller.enable(); Timer.delay(5); controller.disable(); - assertTrue(pidData() + "Controller Error: " + controller.getError(), controller.onTarget()); + assertTrue(pidData() + "Was not on Target. Controller Error: " + controller.getError(), controller.onTarget()); } private String pidData(){