def test_I_count(self):
kp = 0
ki = 1
kd = 0
state = 1
minOutput = -500.0
maxOutput = 500.0
pid = PIDController(kp, ki, kd, state, minOutput, maxOutput)
currentState = 2
targetState = 1
timeDelta = 0.5
output = pid.compute(currentState, targetState, timeDelta)
self.assertEqual(output, -0.5)
currentState = 3
targetState = 2.5
timeDelta = 0.5
output = pid.compute(currentState, targetState, timeDelta)
self.assertEqual(output, -0.75)
currentState = 300
targetState = 250
timeDelta = 2
output = pid.compute(currentState, targetState, timeDelta)
self.assertEqual(output, -100.75)
currentState = 400
targetState = 0
timeDelta = 2
output = pid.compute(currentState, targetState, timeDelta)
self.assertEqual(output, -500)
def test_D_one(self):
kp = 0
ki = 0
kd = 1
state = 1
minOutput = -500.0
maxOutput = 500.0
pid = PIDController(kp, ki, kd, state, minOutput, maxOutput)
currentState = 2
targetState = 1
timeDelta = 1
output = pid.compute(currentState, targetState, timeDelta)
self.assertEqual(output, -1)
def test_D_zero(self):
kp = 0
ki = 0
kd = 1
state = 1
minOutput = 0.0
maxOutput = 500.0
pid = PIDController(kp, ki, kd, state, minOutput, maxOutput)
currentState = 1
targetState = 13 # a change in targetState should not influence derivative
timeDelta = 1
output = pid.compute(currentState, targetState, timeDelta)
self.assertEqual(output, 0.0)
def test_P_negative(self):
kp = 1
ki = 0
kd = 0
state = 0
minOutput = -10
maxOutput = 10
pid = PIDController(kp, ki, kd, state, minOutput, maxOutput)
currentState = 0.1
targetState = 0
timeDelta = 10009 # timeDelta is irrelevant for P
output = pid.compute(currentState, targetState, timeDelta)
self.assertEqual(output, -0.1)
def test_P_zero(self):
kp = 1
ki = 0
kd = 0
state = 0
minOutput = -10
maxOutput = 10
pid = PIDController(kp, ki, kd, state, minOutput, maxOutput)
currentState = 0.0
targetState = 0.0
timeDelta = 1 # timeDelta is irrelevant for P
output = pid.compute(currentState, targetState, timeDelta)
self.assertTrue(output == 0)
def test_P_positive(self):
kp = 0.01
ki = 0
kd = 0
state = 0
minOutput = 0.0
maxOutput = 5.0
pid = PIDController(kp, ki, kd, state, minOutput, maxOutput)
currentState = 4900
targetState = 5000
timeDelta = 0.134 # timeDelta is irrelevant for P
output = pid.compute(currentState, targetState, timeDelta)
self.assertEqual(output, 1.0)
