mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
05626cfafe
* Fixed cpplint.py [build/include_order] and [build/include_what_you_use] warnings * Fixed cpplint.py [readability/casting] warnings * Updated .styleguide format * Fixed cpplint.py [build/header_guard] warnings
84 lines
2.8 KiB
C++
84 lines
2.8 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2014-2016. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#include "PIDController.h"
|
|
#include "PIDOutput.h"
|
|
#include "PIDSource.h"
|
|
#include "TestBench.h"
|
|
#include "Timer.h"
|
|
#include "gtest/gtest.h"
|
|
|
|
class PIDToleranceTest : public testing::Test {
|
|
protected:
|
|
const double setpoint = 50.0;
|
|
const double range = 200;
|
|
const double tolerance = 10.0;
|
|
class fakeInput : public PIDSource {
|
|
public:
|
|
double val = 0;
|
|
void SetPIDSourceType(PIDSourceType pidSource) {}
|
|
PIDSourceType GetPIDSourceType() { return PIDSourceType::kDisplacement; }
|
|
double PIDGet() { return val; }
|
|
};
|
|
class fakeOutput : public PIDOutput {
|
|
void PIDWrite(float output) {}
|
|
};
|
|
fakeInput inp;
|
|
fakeOutput out;
|
|
PIDController* pid;
|
|
void SetUp() override {
|
|
pid = new PIDController(0.5, 0.0, 0.0, &inp, &out);
|
|
pid->SetInputRange(-range / 2, range / 2);
|
|
}
|
|
void TearDown() override { delete pid; }
|
|
void Reset() { inp.val = 0; }
|
|
};
|
|
|
|
TEST_F(PIDToleranceTest, Absolute) {
|
|
Reset();
|
|
pid->SetAbsoluteTolerance(tolerance);
|
|
pid->SetSetpoint(setpoint);
|
|
pid->Enable();
|
|
EXPECT_FALSE(pid->OnTarget())
|
|
<< "Error was in tolerance when it should not have been. Error was "
|
|
<< pid->GetAvgError();
|
|
inp.val = setpoint + tolerance / 2;
|
|
Wait(1.0);
|
|
EXPECT_TRUE(pid->OnTarget())
|
|
<< "Error was not in tolerance when it should have been. Error was "
|
|
<< pid->GetAvgError();
|
|
inp.val = setpoint + 10 * tolerance;
|
|
Wait(1.0);
|
|
EXPECT_FALSE(pid->OnTarget())
|
|
<< "Error was in tolerance when it should not have been. Error was "
|
|
<< pid->GetAvgError();
|
|
}
|
|
|
|
TEST_F(PIDToleranceTest, Percent) {
|
|
Reset();
|
|
pid->SetPercentTolerance(tolerance);
|
|
pid->SetSetpoint(setpoint);
|
|
pid->Enable();
|
|
EXPECT_FALSE(pid->OnTarget())
|
|
<< "Error was in tolerance when it should not have been. Error was "
|
|
<< pid->GetAvgError();
|
|
inp.val = setpoint +
|
|
(tolerance) / 200 *
|
|
range; // half of percent tolerance away from setpoint
|
|
Wait(1.0);
|
|
EXPECT_TRUE(pid->OnTarget())
|
|
<< "Error was not in tolerance when it should have been. Error was "
|
|
<< pid->GetAvgError();
|
|
inp.val =
|
|
setpoint +
|
|
(tolerance) / 50 * range; // double percent tolerance away from setPoint
|
|
Wait(1.0);
|
|
EXPECT_FALSE(pid->OnTarget())
|
|
<< "Error was in tolerance when it should not have been. Error was "
|
|
<< pid->GetAvgError();
|
|
}
|