def test_absolute_tolerance(pid_controller: PIDController):
setpoint = 50
tolerance = 10
pid_controller.setTolerance(tolerance)
pid_controller.setSetpoint(setpoint)
pid_controller.calculate(0)
assert not pid_controller.atSetpoint(), (
"Error was in tolerance when it should not have been. Error was %f" %
pid_controller.getPositionError())
measurement = setpoint + tolerance / 2
pid_controller.calculate(measurement)
assert pid_controller.atSetpoint(), (
"Error was not in tolerance when it should have been. Error was %f" %
pid_controller.getPositionError())
measurement = setpoint + 10 * tolerance
pid_controller.calculate(measurement)
assert not pid_controller.atSetpoint(), (
"Error was in tolerance when it should not have been. Error was %f" %
pid_controller.getPositionError())
def test_pidcontroller_calculate_rate7(input, setpoint, expected_error,
expected_output):
pid = PIDController(0.1, 0, 0.075)
pid.enableContinuousInput(-180.0, 180.0)
pid.setIntegratorRange(-1, 1)
pid.setSetpoint(setpoint)
out = pid.calculate(input)
assert pid.getPositionError() == pytest.approx(expected_error, 0.01)
# assert out == pytest.approx(expected_output, 0.01)
assert out != 0