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87384ea684
The inputs should all be errors, so the range should be symmetric. Fixes #3168. Fixes #3304.
52 lines
1.4 KiB
C++
52 lines
1.4 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/controller/PIDController.h"
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#include "gtest/gtest.h"
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class PIDInputOutputTest : public testing::Test {
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protected:
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frc2::PIDController* controller;
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void SetUp() override { controller = new frc2::PIDController(0, 0, 0); }
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void TearDown() override { delete controller; }
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};
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TEST_F(PIDInputOutputTest, ContinuousInputTest) {
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controller->SetP(1);
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controller->EnableContinuousInput(-180, 180);
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EXPECT_DOUBLE_EQ(controller->Calculate(-179, 179), -2);
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controller->EnableContinuousInput(0, 360);
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EXPECT_DOUBLE_EQ(controller->Calculate(1, 359), -2);
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}
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TEST_F(PIDInputOutputTest, ProportionalGainOutputTest) {
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controller->SetP(4);
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EXPECT_DOUBLE_EQ(-0.1, controller->Calculate(0.025, 0));
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}
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TEST_F(PIDInputOutputTest, IntegralGainOutputTest) {
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controller->SetI(4);
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double out = 0;
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for (int i = 0; i < 5; i++) {
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out = controller->Calculate(0.025, 0);
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}
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EXPECT_DOUBLE_EQ(-0.5 * controller->GetPeriod().to<double>(), out);
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}
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TEST_F(PIDInputOutputTest, DerivativeGainOutputTest) {
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controller->SetD(4);
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controller->Calculate(0, 0);
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EXPECT_DOUBLE_EQ(-10_ms / controller->GetPeriod(),
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controller->Calculate(0.0025, 0));
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}
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