67 lines
1.6 KiB
C++
67 lines
1.6 KiB
C++
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/*
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* @file test_pid_auto.cpp
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*
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* @date Sep 29, 2019
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* @author Andrey Belomutskiy, (c) 2012-2019
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*/
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// see also idle.timingPid test
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#include "unit_test_framework.h"
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#include "pid.h"
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TEST(util, pid) {
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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.periodMs = 1;
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Pid pid(&pidS);
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ASSERT_EQ( 90, pid.getOutput(14, 12, 0.1)) << "getValue#90";
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ASSERT_EQ( 10, pid.getOutput(14, 16, 0.1)) << "getValue#10";
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ASSERT_EQ(10, pid.getOutput(14, 16, 1));
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pid.updateFactors(29, 0, 0);
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ASSERT_EQ(10, pid.getOutput(14, 16, 1));
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// ASSERT_EQ(68, pid.getIntegration());
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ASSERT_EQ(10, pid.getOutput(14, 16, 1));
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// ASSERT_EQ(0, pid.getIntegration());
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ASSERT_EQ(10, pid.getOutput(14, 16, 1));
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// ASSERT_EQ(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.periodMs = 1;
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pid.reset();
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ASSERT_EQ( 50, pid.getOutput(/*target*/50, /*input*/0)) << "target=50, input=0";
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ASSERT_EQ( 0, pid.iTerm) << "target=50, input=0 iTerm";
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ASSERT_EQ( 0, pid.getOutput(/*target*/50, /*input*/70)) << "target=50, input=70";
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ASSERT_EQ( 0, pid.iTerm) << "target=50, input=70 iTerm";
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ASSERT_EQ( 0, pid.getOutput(/*target*/50, /*input*/70)) << "target=50, input=70 #2";
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ASSERT_EQ( 0, pid.iTerm) << "target=50, input=70 iTerm #2";
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ASSERT_EQ( 0, pid.getOutput(/*target*/50, /*input*/50)) << "target=50, input=50";
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ASSERT_EQ( 0, pid.iTerm) << "target=50, input=50 iTerm";
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}
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