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#435

This commit is contained in:
rusefi 2017-06-02 21:51:38 -04:00
parent fbd1eab289
commit 3a340f7ab9
1 changed files with 27 additions and 0 deletions
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27
unit_tests/test_idle_controller.cpp
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@ -21,6 +21,7 @@ void testPidController(void) {
pidS.offset = 0;
pidS.minValue = 10;
pidS.maxValue = 90;
pidS.period = 1;
Pid pid(&pidS);
@ -40,4 +41,30 @@ void testPidController(void) {
assertEquals(10, pid.getValue(14, 16, 1));
// assertEquals(68, pid.getIntegration());
pidS.pFactor = 1;
pidS.iFactor = 0;
pidS.dFactor = 0;
pidS.offset = 0;
pidS.minValue = 0;
pidS.maxValue = 100;
pidS.period = 1;
pid.reset();
assertEqualsM("target=50, input=0", 50, pid.getValue(/*target*/50, /*input*/0));
assertEqualsM("target=50, input=0 iTerm", 0, pid.iTerm);
assertEqualsM("target=50, input=70", 0, pid.getValue(/*target*/50, /*input*/70));
assertEqualsM("target=50, input=70 iTerm", 20, pid.iTerm);
assertEqualsM("target=50, input=70 #2", 0, pid.getValue(/*target*/50, /*input*/70));
// WOW, we are getting non-zero iTerm while iFactor is zero?!
assertEqualsM("target=50, input=70 iTerm #2", 20, pid.iTerm);
// and now we inherit this iTerm even for cases where targer==input?! NOT RIGHT
assertEqualsM("target=50, input=50", 20, pid.getValue(/*target*/50, /*input*/50));
assertEqualsM("target=50, input=50 iTerm", 20, pid.iTerm);
}