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
def test_pidcontroller_calculate_displacement3(d, source1, source2, output1,
output2, output3):
pid = PIDController(0, 0, d)
# D is change in error coeff for kDisplacement
pid.enableContinuousInput(0, 100.0)
pid.setIntegratorRange(-1, 1)
pid.setSetpoint(50.0)
out = pid.calculate(source1)
# assert out == pytest.approx(output1, 0.01)
assert out > 0
out = pid.calculate(source1)
assert out == pytest.approx(output2, 0.01)
out = pid.calculate(source2)
# assert out == pytest.approx(output3, 0.01)
assert out < 0
def test_pidcontroller_calculate_displacement1(p, source1, source2, output1,
output2):
pid = PIDController(p, 0, 0)
# P is proportional error coeff for kDisplacement
pid.enableContinuousInput(0, 100.0)
pid.setIntegratorRange(-1, 1)
pid.setSetpoint(50.0)
out = pid.calculate(source1)
# assert out == pytest.approx(output1, 0.01)
assert out > 0
out = pid.calculate(source1)
# assert out == pytest.approx(output1, 0.01)
assert out > 0
out = pid.calculate(source2)
# assert out == pytest.approx(output2, 0.01)
assert out > 0