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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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3
wpilibj/src/test/java/edu/wpi/first/wpilibj/PIDInputOutputTest.java
View File

@@ -50,8 +50,7 @@ class PIDInputOutputTest {
@Test
void continuousInputTest() {
m_controller.setP(1);
m_controller.setInputRange(-180, 180);
m_controller.setContinuous(true);
m_controller.enableContinuousInput(-180, 180);
assertTrue(m_controller.calculate(-179, 179) < 0.0);
}

89
wpilibj/src/test/java/edu/wpi/first/wpilibj/PIDToleranceTest.java
View File

@@ -18,29 +18,14 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
class PIDToleranceTest {
private PIDController m_pidController;
private static final double m_setpoint = 50.0;
private static final double m_tolerance = 10.0;
private static final double m_range = 200;
private static class FakeInput {
public double m_val;
FakeInput() {
m_val = 0;
}
public double getMeasurement() {
return m_val;
}
}
private FakeInput m_inp;
private static final double kSetpoint = 50.0;
private static final double kTolerance = 10.0;
private static final double kRange = 200;
@BeforeEach
void setUp() {
m_inp = new FakeInput();
m_pidController = new PIDController(0.05, 0.0, 0.0);
m_pidController.setInputRange(-m_range / 2, m_range / 2);
m_pidController.setInputRange(-kRange / 2, kRange / 2);
}
@AfterEach
@@ -51,60 +36,56 @@ class PIDToleranceTest {
@Test
void initialToleranceTest() {
assertFalse(m_pidController.atSetpoint());
assertTrue(m_pidController.atSetpoint());
}
@Test
void absoluteToleranceTest() {
m_pidController.setAbsoluteTolerance(m_tolerance);
m_pidController.setSetpoint(m_setpoint);
for (int i = 0; i < 50; i++) {
m_pidController.calculate(m_inp.getMeasurement());
}
m_pidController.setAbsoluteTolerance(kTolerance);
m_pidController.setSetpoint(kSetpoint);
m_pidController.calculate(0.0);
assertFalse(m_pidController.atSetpoint(),
"Error was in tolerance when it should not have been. Error was " + m_pidController
.getError());
m_inp.m_val = m_setpoint + m_tolerance / 2;
for (int i = 0; i < 50; i++) {
m_pidController.calculate(m_inp.getMeasurement());
}
.getPositionError());
m_pidController.calculate(kSetpoint + kTolerance / 2);
assertTrue(m_pidController.atSetpoint(),
"Error was not in tolerance when it should have been. Error was " + m_pidController
.getError());
m_inp.m_val = m_setpoint + 10 * m_tolerance;
for (int i = 0; i < 50; i++) {
m_pidController.calculate(m_inp.getMeasurement());
}
.getPositionError());
m_pidController.calculate(kSetpoint + 10 * kTolerance);
assertFalse(m_pidController.atSetpoint(),
"Error was in tolerance when it should not have been. Error was " + m_pidController
.getError());
.getPositionError());
}
@Test
void percentToleranceTest() {
m_pidController.setPercentTolerance(m_tolerance);
m_pidController.setSetpoint(m_setpoint);
for (int i = 0; i < 50; i++) {
m_pidController.calculate(m_inp.getMeasurement());
}
m_pidController.setPercentTolerance(kTolerance);
m_pidController.setSetpoint(kSetpoint);
m_pidController.calculate(0.0);
assertFalse(m_pidController.atSetpoint(),
"Error was in tolerance when it should not have been. Error was " + m_pidController
.getError());
//half of percent tolerance away from setPoint
m_inp.m_val = m_setpoint + m_tolerance / 200 * m_range;
for (int i = 0; i < 50; i++) {
m_pidController.calculate(m_inp.getMeasurement());
}
.getPositionError());
// Half of percent tolerance away from setpoint
m_pidController.calculate(kSetpoint + (kTolerance / 2) / 100 * kRange);
assertTrue(m_pidController.atSetpoint(),
"Error was not in tolerance when it should have been. Error was " + m_pidController
.getError());
//double percent tolerance away from setPoint
m_inp.m_val = m_setpoint + m_tolerance / 50 * m_range;
for (int i = 0; i < 50; i++) {
m_pidController.calculate(m_inp.getMeasurement());
}
.getPositionError());
// Double percent tolerance away from setpoint
m_pidController.calculate(kSetpoint + (kTolerance * 2) / 100 * kRange);
assertFalse(m_pidController.atSetpoint(),
"Error was in tolerance when it should not have been. Error was " + m_pidController
.getError());
.getPositionError());
}
}