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Remove percent tolerance from PID controller

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It breaks the unit system badly; the tolerance member variable has
different units depending on percent vs absolute. Absolute tolerance is
a lot more natural than percent tolerance anyway.
This commit is contained in:
Tyler Veness
2019-08-25 13:01:51 -07:00
committed by Peter Johnson
parent 0ca8d667d2
commit ff8b8f0a8a
29 changed files with 121 additions and 507 deletions
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9
wpilibc/src/test/native/cpp/controller/PIDInputOutputTest.cpp
View File

@@ -25,15 +25,6 @@ TEST_F(PIDInputOutputTest, OutputRangeTest) {
EXPECT_DOUBLE_EQ(50, controller->Calculate(0, 100));
}
TEST_F(PIDInputOutputTest, InputRangeTest) {
controller->SetP(1);
controller->SetOutputRange(-1000, 1000);
controller->SetInputRange(-50, 50);
EXPECT_DOUBLE_EQ(-100, controller->Calculate(100, 0));
EXPECT_DOUBLE_EQ(50, controller->Calculate(0, 100));
}
TEST_F(PIDInputOutputTest, ContinuousInputTest) {
controller->SetP(1);
controller->EnableContinuousInput(-180, 180);

73
wpilibc/src/test/native/cpp/controller/PIDToleranceTest.cpp
View File

@@ -8,68 +8,39 @@
#include "frc/controller/PIDController.h"
#include "gtest/gtest.h"
class PIDToleranceTest : public testing::Test {
protected:
static constexpr double kSetpoint = 50.0;
static constexpr double kRange = 200;
static constexpr double kTolerance = 10.0;
static constexpr double kSetpoint = 50.0;
static constexpr double kRange = 200;
static constexpr double kTolerance = 10.0;
frc2::PIDController* pidController;
TEST(PIDToleranceTest, InitialTolerance) {
frc2::PIDController controller{0.5, 0.0, 0.0};
controller.EnableContinuousInput(-kRange / 2, kRange / 2);
void SetUp() override {
pidController = new frc2::PIDController(0.5, 0.0, 0.0);
pidController->SetInputRange(-kRange / 2, kRange / 2);
}
void TearDown() override { delete pidController; }
};
TEST_F(PIDToleranceTest, Initial) { EXPECT_TRUE(pidController->AtSetpoint()); }
TEST_F(PIDToleranceTest, Absolute) {
pidController->SetAbsoluteTolerance(kTolerance);
pidController->SetSetpoint(kSetpoint);
pidController->Calculate(0.0);
EXPECT_FALSE(pidController->AtSetpoint())
<< "Error was in tolerance when it should not have been. Error was "
<< pidController->GetPositionError();
pidController->Calculate(kSetpoint + kTolerance / 2);
EXPECT_TRUE(pidController->AtSetpoint())
<< "Error was not in tolerance when it should have been. Error was "
<< pidController->GetPositionError();
pidController->Calculate(kSetpoint + 10 * kTolerance);
EXPECT_FALSE(pidController->AtSetpoint())
<< "Error was in tolerance when it should not have been. Error was "
<< pidController->GetPositionError();
EXPECT_TRUE(controller.AtSetpoint());
}
TEST_F(PIDToleranceTest, Percent) {
pidController->SetPercentTolerance(kTolerance);
pidController->SetSetpoint(kSetpoint);
TEST(PIDToleranceTest, AbsoluteTolerance) {
frc2::PIDController controller{0.5, 0.0, 0.0};
controller.EnableContinuousInput(-kRange / 2, kRange / 2);
pidController->Calculate(0.0);
controller.SetTolerance(kTolerance);
controller.SetSetpoint(kSetpoint);
EXPECT_FALSE(pidController->AtSetpoint())
controller.Calculate(0.0);
EXPECT_FALSE(controller.AtSetpoint())
<< "Error was in tolerance when it should not have been. Error was "
<< pidController->GetPositionError();
<< controller.GetPositionError();
// Half of percent tolerance away from setpoint
pidController->Calculate(kSetpoint + (kTolerance / 2) / 100 * kRange);
controller.Calculate(kSetpoint + kTolerance / 2);
EXPECT_TRUE(pidController->AtSetpoint())
EXPECT_TRUE(controller.AtSetpoint())
<< "Error was not in tolerance when it should have been. Error was "
<< pidController->GetPositionError();
<< controller.GetPositionError();
// Double percent tolerance away from setpoint
pidController->Calculate(kSetpoint + (kTolerance * 2) / 100 * kRange);
controller.Calculate(kSetpoint + 10 * kTolerance);
EXPECT_FALSE(pidController->AtSetpoint())
EXPECT_FALSE(controller.AtSetpoint())
<< "Error was in tolerance when it should not have been. Error was "
<< pidController->GetPositionError();
<< controller.GetPositionError();
}