fome-fw/unit_tests/tests/test_pid.cpp

102 lines
2.6 KiB
C++

/*
* @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);
}