/* * @file test_pid_auto.cpp * * @date Sep 29, 2019 * @author Andrey Belomutskiy, (c) 2012-2020 */ // see also idle.timingPid test #include "pch.h" #include "efi_pid.h" TEST(util, pid) { pid_s pidS; pidS.pFactor = 50; pidS.iFactor = 0.5; pidS.dFactor = 0; pidS.offset = 0; pidS.minValue = 10; pidS.maxValue = 90; Pid pid(&pidS); ASSERT_FLOAT_EQ( 90, pid.getOutput(14, 12, 0.1)) << "getValue#90"; ASSERT_FLOAT_EQ( 10, pid.getOutput(14, 16, 0.1)) << "getValue#10"; ASSERT_FLOAT_EQ(10, pid.getOutput(14, 16, 1)); pidS.pFactor = 29; pidS.iFactor = 0; pidS.dFactor = 0; ASSERT_FLOAT_EQ(10, pid.getOutput(14, 16, 1)); // ASSERT_FLOAT_EQ(68, pid.getIntegration()); ASSERT_FLOAT_EQ(10, pid.getOutput(14, 16, 1)); // ASSERT_FLOAT_EQ(0, pid.getIntegration()); ASSERT_FLOAT_EQ(10, pid.getOutput(14, 16, 1)); // ASSERT_FLOAT_EQ(68, pid.getIntegration()); pidS.pFactor = 1; pidS.iFactor = 0; pidS.dFactor = 0; pidS.offset = 0; pidS.minValue = 0; pidS.maxValue = 100; pid.reset(); ASSERT_FLOAT_EQ( 50, pid.getOutput(/*target*/50, /*input*/0, 0.005)) << "target=50, input=0"; ASSERT_FLOAT_EQ( 0, pid.iTerm) << "target=50, input=0 iTerm"; ASSERT_FLOAT_EQ( 0, pid.getOutput(/*target*/50, /*input*/70, 0.005)) << "target=50, input=70"; ASSERT_FLOAT_EQ( 0, pid.iTerm) << "target=50, input=70 iTerm"; ASSERT_FLOAT_EQ( 0, pid.getOutput(/*target*/50, /*input*/70, 0.005)) << "target=50, input=70 #2"; ASSERT_FLOAT_EQ( 0, pid.iTerm) << "target=50, input=70 iTerm #2"; ASSERT_FLOAT_EQ( 0, pid.getOutput(/*target*/50, /*input*/50, 0.005)) << "target=50, input=50"; ASSERT_FLOAT_EQ( 0, pid.iTerm) << "target=50, input=50 iTerm"; } static void commonPidTestParameters(pid_s * pidS) { pidS->pFactor = 0; pidS->iFactor = 50; pidS->dFactor = 0; pidS->offset = 0; pidS->minValue = 10; pidS->maxValue = 40; } static void commonPidTest(Pid *pid) { pid->iTermMax = 45; ASSERT_FLOAT_EQ( 12.5, pid->getOutput(/*target*/50, /*input*/0, 0.005f)) << "target=50, input=0 #0"; ASSERT_FLOAT_EQ( 12.5, pid->getIntegration()); ASSERT_FLOAT_EQ( 25 , pid->getOutput(/*target*/50, /*input*/0, 0.005f)) << "target=50, input=0 #1"; ASSERT_FLOAT_EQ( 37.5, pid->getOutput(/*target*/50, /*input*/0, 0.005f)) << "target=50, input=0 #2"; ASSERT_FLOAT_EQ( 37.5, pid->getIntegration()); ASSERT_FLOAT_EQ( 40.0, pid->getOutput(/*target*/50, /*input*/0, 0.005f)) << "target=50, input=0 #3"; ASSERT_FLOAT_EQ( 45, pid->getIntegration()); } TEST(util, parallelPidLimits) { pid_s pidS; commonPidTestParameters(&pidS); Pid pid(&pidS); commonPidTest(&pid); } TEST(util, industrialPidLimits) { pid_s pidS; commonPidTestParameters(&pidS); }