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

@@ -190,7 +190,7 @@ public class MotorEncoderTest extends AbstractComsSetup {
assertTrue(
"PID loop did not reach reference within 10 seconds. The current error was" + pidController
.getError(), pidController.atSetpoint());
.getPositionError(), pidController.atSetpoint());
pidController.close();
}
@@ -211,7 +211,7 @@ public class MotorEncoderTest extends AbstractComsSetup {
pidRunner.stop();
assertTrue("PID loop did not reach reference within 10 seconds. The error was: " + pidController
.getError(), pidController.atSetpoint());
.getPositionError(), pidController.atSetpoint());
pidController.close();
}

12
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
View File

@@ -131,8 +131,8 @@ public class PIDTest extends AbstractComsSetup {
setupOutputRange();
double reference = 2500.0;
m_controller.setSetpoint(reference);
assertEquals("PID.getError() did not start at " + reference, reference, m_controller.getError(),
0);
assertEquals("PID.getPositionError() did not start at " + reference,
reference, m_controller.getPositionError(), 0);
m_builder.updateTable();
assertEquals(k_p, m_table.getEntry("Kp").getDouble(9999999), 0);
assertEquals(k_i, m_table.getEntry("Ki").getDouble(9999999), 0);
@@ -155,17 +155,17 @@ public class PIDTest extends AbstractComsSetup {
setupAbsoluteTolerance();
setupOutputRange();
double reference = 1000.0;
assertEquals(pidData() + "did not start at 0", 0, m_controller.getOutput(), 0);
assertEquals(pidData() + "did not start at 0", 0, me.getMotor().get(), 0);
m_controller.setSetpoint(reference);
assertEquals(pidData() + "did not have an error of " + reference, reference,
m_controller.getError(), 0);
m_controller.getPositionError(), 0);
Notifier pidRunner = new Notifier(
() -> me.getMotor().set(m_controller.calculate(me.getEncoder().getDistance())));
pidRunner.startPeriodic(m_controller.getPeriod());
Timer.delay(5);
pidRunner.stop();
assertTrue(pidData() + "Was not on Target. Controller Error: " + m_controller.getError(),
m_controller.atSetpoint());
assertTrue(pidData() + "Was not on Target. Controller Error: "
+ m_controller.getPositionError(), m_controller.atSetpoint());
}
private String pidData() {