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Clean up PIDController interface in preparation for ProfiledPIDController

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This commit is contained in:
Tyler Veness
2019-08-14 22:17:44 -07:00
committed by Peter Johnson
parent fdc098267e
commit fc98a79dbb
10 changed files with 226 additions and 319 deletions
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5
wpilibc/src/test/native/cpp/PIDInputOutputTest.cpp
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@@ -36,8 +36,7 @@ TEST_F(PIDInputOutputTest, InputRangeTest) {
TEST_F(PIDInputOutputTest, ContinuousInputTest) {
controller->SetP(1);
controller->SetInputRange(-180, 180);
controller->SetContinuous(true);
controller->EnableContinuousInput(-180, 180);
EXPECT_TRUE(controller->Calculate(-179, 179) < 0);
}
@@ -65,6 +64,6 @@ TEST_F(PIDInputOutputTest, DerivativeGainOutputTest) {
controller->Calculate(0, 0);
EXPECT_DOUBLE_EQ(-.01 / controller->GetPeriod().to<double>(),
EXPECT_DOUBLE_EQ(-.01_s / controller->GetPeriod(),
controller->Calculate(.0025, 0));
}

80
wpilibc/src/test/native/cpp/PIDToleranceTest.cpp
View File

@@ -5,105 +5,71 @@
/* the project. */
/*----------------------------------------------------------------------------*/
#include "frc/Timer.h"
#include "frc/controller/PIDController.h"
#include "gtest/gtest.h"
using namespace frc;
class PIDToleranceTest : public testing::Test {
protected:
const double setpoint = 50.0;
const double range = 200;
const double tolerance = 10.0;
static constexpr double kSetpoint = 50.0;
static constexpr double kRange = 200;
static constexpr double kTolerance = 10.0;
class FakeInput {
public:
double val = 0;
double Get() { return val; }
};
class FakeOutput {
public:
void Set(double output) {}
};
FakeInput inp;
FakeOutput out;
frc2::PIDController* pidController;
void SetUp() override {
pidController = new frc2::PIDController(0.5, 0.0, 0.0);
pidController->SetInputRange(-range / 2, range / 2);
pidController->SetInputRange(-kRange / 2, kRange / 2);
}
void TearDown() override { delete pidController; }
void Reset() { inp.val = 0; }
};
TEST_F(PIDToleranceTest, Initial) { EXPECT_FALSE(pidController->AtSetpoint()); }
TEST_F(PIDToleranceTest, Initial) { EXPECT_TRUE(pidController->AtSetpoint()); }
TEST_F(PIDToleranceTest, Absolute) {
Reset();
pidController->SetAbsoluteTolerance(kTolerance);
pidController->SetSetpoint(kSetpoint);
pidController->SetAbsoluteTolerance(tolerance);
pidController->SetSetpoint(setpoint);
pidController->Calculate(0.0);
EXPECT_FALSE(pidController->AtSetpoint())
<< "Error was in tolerance when it should not have been. Error was "
<< pidController->GetError();
<< pidController->GetPositionError();
inp.val = setpoint + tolerance / 2;
for (int i = 0; i <= 50; i++) {
pidController->Calculate(inp.Get());
}
pidController->Calculate(kSetpoint + kTolerance / 2);
EXPECT_TRUE(pidController->AtSetpoint())
<< "Error was not in tolerance when it should have been. Error was "
<< pidController->GetError();
<< pidController->GetPositionError();
inp.val = setpoint + 10 * tolerance;
for (int i = 0; i <= 50; i++) {
pidController->Calculate(inp.Get());
}
pidController->Calculate(kSetpoint + 10 * kTolerance);
EXPECT_FALSE(pidController->AtSetpoint())
<< "Error was in tolerance when it should not have been. Error was "
<< pidController->GetError();
<< pidController->GetPositionError();
}
TEST_F(PIDToleranceTest, Percent) {
Reset();
pidController->SetPercentTolerance(kTolerance);
pidController->SetSetpoint(kSetpoint);
pidController->SetPercentTolerance(tolerance);
pidController->SetSetpoint(setpoint);
pidController->Calculate(0.0);
EXPECT_FALSE(pidController->AtSetpoint())
<< "Error was in tolerance when it should not have been. Error was "
<< pidController->GetError();
<< pidController->GetPositionError();
inp.val =
setpoint + (tolerance) / 200 *
range; // half of percent tolerance away from setpoint
for (int i = 0; i <= 50; i++) {
pidController->Calculate(inp.Get());
}
// Half of percent tolerance away from setpoint
pidController->Calculate(kSetpoint + (kTolerance / 2) / 100 * kRange);
EXPECT_TRUE(pidController->AtSetpoint())
<< "Error was not in tolerance when it should have been. Error was "
<< pidController->GetError();
<< pidController->GetPositionError();
inp.val =
setpoint +
(tolerance) / 50 * range; // double percent tolerance away from setPoint
for (int i = 0; i <= 50; i++) {
pidController->Calculate(inp.Get());
}
// Double percent tolerance away from setpoint
pidController->Calculate(kSetpoint + (kTolerance * 2) / 100 * kRange);
EXPECT_FALSE(pidController->AtSetpoint())
<< "Error was in tolerance when it should not have been. Error was "
<< pidController->GetError();
<< pidController->GetPositionError();
}