mirror of https://github.com/rusefi/rusefi-1.git
65 lines
1.6 KiB
C++
65 lines
1.6 KiB
C++
/*
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* @file test_idle_controller.cpp
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*
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* @date Oct 17, 2013
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* @author Andrey Belomutskiy, (c) 2012-2018
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*/
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#include "engine_test_helper.h"
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#include "pid.h"
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void testPidController(void) {
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print("******************************************* testPidController\r\n");
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pid_s pidS;
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pidS.pFactor = 50;
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pidS.iFactor = 0.5;
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pidS.dFactor = 0;
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pidS.offset = 0;
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pidS.minValue = 10;
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pidS.maxValue = 90;
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pidS.period = 1;
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Pid pid(&pidS);
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assertEqualsM("getValue#90", 90, pid.getValue(14, 12, 0.1));
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assertEqualsM("getValue#10", 10, pid.getValue(14, 16, 0.1));
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assertEquals(10, pid.getValue(14, 16, 1));
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pid.updateFactors(29, 0, 0);
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assertEquals(10, pid.getValue(14, 16, 1));
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// assertEquals(68, pid.getIntegration());
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assertEquals(10, pid.getValue(14, 16, 1));
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// assertEquals(0, pid.getIntegration());
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assertEquals(10, pid.getValue(14, 16, 1));
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// assertEquals(68, pid.getIntegration());
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pidS.pFactor = 1;
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pidS.iFactor = 0;
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pidS.dFactor = 0;
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pidS.offset = 0;
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pidS.minValue = 0;
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pidS.maxValue = 100;
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pidS.period = 1;
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pid.reset();
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assertEqualsM("target=50, input=0", 50, pid.getValue(/*target*/50, /*input*/0));
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assertEqualsM("target=50, input=0 iTerm", 0, pid.iTerm);
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assertEqualsM("target=50, input=70", 0, pid.getValue(/*target*/50, /*input*/70));
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assertEqualsM("target=50, input=70 iTerm", 0, pid.iTerm);
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assertEqualsM("target=50, input=70 #2", 0, pid.getValue(/*target*/50, /*input*/70));
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assertEqualsM("target=50, input=70 iTerm #2", 0, pid.iTerm);
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assertEqualsM("target=50, input=50", 0, pid.getValue(/*target*/50, /*input*/50));
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assertEqualsM("target=50, input=50 iTerm", 0, pid.iTerm);
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}
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