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https://github.com/wpilibsuite/allwpilib
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d89b7dd412
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
108 lines
2.8 KiB
C++
108 lines
2.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "TestBench.h"
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#include "frc/PIDController.h"
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#include "frc/PIDOutput.h"
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#include "frc/PIDSource.h"
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#include "frc/Timer.h"
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#include "gtest/gtest.h"
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using namespace frc;
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class PIDToleranceTest : public testing::Test {
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protected:
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const double setpoint = 50.0;
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const double range = 200;
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const double tolerance = 10.0;
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class FakeInput : public PIDSource {
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public:
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double val = 0;
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void SetPIDSourceType(PIDSourceType pidSource) {}
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PIDSourceType GetPIDSourceType() { return PIDSourceType::kDisplacement; }
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double PIDGet() { return val; }
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};
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class FakeOutput : public PIDOutput {
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void PIDWrite(double output) {}
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};
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FakeInput inp;
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FakeOutput out;
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PIDController* pid;
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void SetUp() override {
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pid = new PIDController(0.5, 0.0, 0.0, &inp, &out);
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pid->SetInputRange(-range / 2, range / 2);
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}
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void TearDown() override { delete pid; }
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void Reset() { inp.val = 0; }
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};
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TEST_F(PIDToleranceTest, Absolute) {
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Reset();
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pid->SetAbsoluteTolerance(tolerance);
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pid->SetSetpoint(setpoint);
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pid->Enable();
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EXPECT_FALSE(pid->OnTarget())
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<< "Error was in tolerance when it should not have been. Error was "
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<< pid->GetError();
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inp.val = setpoint + tolerance / 2;
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Wait(1.0);
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EXPECT_TRUE(pid->OnTarget())
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<< "Error was not in tolerance when it should have been. Error was "
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<< pid->GetError();
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inp.val = setpoint + 10 * tolerance;
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Wait(1.0);
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EXPECT_FALSE(pid->OnTarget())
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<< "Error was in tolerance when it should not have been. Error was "
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<< pid->GetError();
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}
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TEST_F(PIDToleranceTest, Percent) {
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Reset();
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pid->SetPercentTolerance(tolerance);
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pid->SetSetpoint(setpoint);
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pid->Enable();
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EXPECT_FALSE(pid->OnTarget())
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<< "Error was in tolerance when it should not have been. Error was "
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<< pid->GetError();
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inp.val =
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setpoint + (tolerance) / 200 *
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range; // half of percent tolerance away from setpoint
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Wait(1.0);
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EXPECT_TRUE(pid->OnTarget())
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<< "Error was not in tolerance when it should have been. Error was "
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<< pid->GetError();
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inp.val =
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setpoint +
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(tolerance) / 50 * range; // double percent tolerance away from setPoint
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Wait(1.0);
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EXPECT_FALSE(pid->OnTarget())
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<< "Error was in tolerance when it should not have been. Error was "
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<< pid->GetError();
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}
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