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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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12
wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/PIDInputOutputTest.java
View File

@@ -33,18 +33,6 @@ class PIDInputOutputTest {
);
}
@Test
void inputRangeTest() {
m_controller.setP(1);
m_controller.setOutputRange(-1000, 1000);
m_controller.setInputRange(-50, 50);
assertAll(
() -> assertEquals(-100, m_controller.calculate(100, 0), 1e-5),
() -> assertEquals(50, m_controller.calculate(0, 100), 1e-5)
);
}
@Test
void continuousInputTest() {
m_controller.setP(1);

71
wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/PIDToleranceTest.java
View File

@@ -7,83 +7,48 @@
package edu.wpi.first.wpilibj.controller;
import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
class PIDToleranceTest {
private PIDController m_pidController;
private static final double kSetpoint = 50.0;
private static final double kTolerance = 10.0;
private static final double kRange = 200;
@BeforeEach
void setUp() {
m_pidController = new PIDController(0.05, 0.0, 0.0);
m_pidController.setInputRange(-kRange / 2, kRange / 2);
}
@AfterEach
void tearDown() {
m_pidController.close();
m_pidController = null;
}
@Test
void initialToleranceTest() {
assertTrue(m_pidController.atSetpoint());
var controller = new PIDController(0.05, 0.0, 0.0);
controller.enableContinuousInput(-kRange / 2, kRange / 2);
assertTrue(controller.atSetpoint());
}
@Test
void absoluteToleranceTest() {
m_pidController.setAbsoluteTolerance(kTolerance);
m_pidController.setSetpoint(kSetpoint);
var controller = new PIDController(0.05, 0.0, 0.0);
controller.enableContinuousInput(-kRange / 2, kRange / 2);
m_pidController.calculate(0.0);
controller.setTolerance(kTolerance);
controller.setSetpoint(kSetpoint);
assertFalse(m_pidController.atSetpoint(),
"Error was in tolerance when it should not have been. Error was " + m_pidController
controller.calculate(0.0);
assertFalse(controller.atSetpoint(),
"Error was in tolerance when it should not have been. Error was " + controller
.getPositionError());
m_pidController.calculate(kSetpoint + kTolerance / 2);
controller.calculate(kSetpoint + kTolerance / 2);
assertTrue(m_pidController.atSetpoint(),
"Error was not in tolerance when it should have been. Error was " + m_pidController
assertTrue(controller.atSetpoint(),
"Error was not in tolerance when it should have been. Error was " + controller
.getPositionError());
m_pidController.calculate(kSetpoint + 10 * kTolerance);
controller.calculate(kSetpoint + 10 * kTolerance);
assertFalse(m_pidController.atSetpoint(),
"Error was in tolerance when it should not have been. Error was " + m_pidController
.getPositionError());
}
@Test
void percentToleranceTest() {
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
.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
.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
assertFalse(controller.atSetpoint(),
"Error was in tolerance when it should not have been. Error was " + controller
.getPositionError());
}
}