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etb CL test (#1361)

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Matthew Kennedy 2020-04-24 14:54:03 -07:00 committed by GitHub
parent 0e8d6d6444
commit a444e09ff8
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unit_tests/tests/test_etb.cpp
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@ -290,3 +290,27 @@ TEST(etb, setOutputOutOfRangeLow) {
// Off scale - should get clamped to -90% // Off scale - should get clamped to -90%
etb.setOutput(-110); etb.setOutput(-110);
} }
TEST(etb, closedLoopPid) {
pid_s pid = {};
pid.pFactor = 5;
pid.maxValue = 75;
pid.minValue = -60;
EtbController etb;
etb.init(nullptr, 0, &pid, nullptr);
// Disable autotune for now
Engine e;
e.etbAutoTune = false;
etb.engine = &e;
// Setpoint greater than actual, should be positive output
EXPECT_FLOAT_EQ(etb.getClosedLoop(50, 40).value_or(-1), 50);
// Likewise but negative
EXPECT_FLOAT_EQ(etb.getClosedLoop(50, 52).value_or(-1), -10);
// Test PID limiting
EXPECT_FLOAT_EQ(etb.getClosedLoop(50, 70).value_or(-1), -60);
EXPECT_FLOAT_EQ(etb.getClosedLoop(50, 30).value_or(-1), 75);
}