def test_feedback_function(self):
mock_speed = sailbot_constants.SPEED_THRESHOLD_FOR_JIBING_KNOTS - 0.1
# Enter JIBE_ONLY mode from UNKNOWN
hc = HeadingController(mock_speed, ControlModes.UNKNOWN.value)
self.assertEqual(hc.getControlModeID(), ControlModes.JIBE_ONLY.value)
self.assertEqual(
hc.get_feed_back_gain(-1.2),
sailbot_constants.KP / (1 + sailbot_constants.CP * abs(-1.2)),
)
def test_feedback_function(self):
mock_speed = sailbot_constants.SPEED_THRESHOLD_FOR_JIBING_KNOTS - 0.1
# Enter JIBE_ONLY mode from UNKNOWN
hc = HeadingController(mock_speed, ControlModes.UNKNOWN.value)
self.assertEqual(hc.getControlModeID(), ControlModes.JIBE_ONLY.value)
heading_error = -1.2
# Generate List of evenly Spaced floats from -4pi to 4pi
testFloatList = []
for i in range(0, (int)(8 * math.pi / 0.01)):
testFloatList.append(-4 * math.pi + 0.01)
self.assertEqual(
hc.get_feed_back_gain(-1.2, 0),
sailbot_constants.KP /
(1 + sailbot_constants.CP * abs(heading_error)),
)
self.assertAlmostEqual(
hc.get_feed_back_gain(-1.2, math.pi),
sailbot_constants.MAX_ABS_RUDDER_ANGLE_RAD_IRONS /
(abs(heading_error) + 0.01),
)
# Test Symmetry of function for all possible cases
for windAngle in testFloatList:
for headingError in testFloatList:
self.assertAlmostEqual(
hc.get_feed_back_gain(headingError, windAngle),
hc.get_feed_back_gain(-headingError, windAngle),
)
# Ensure function is positive and works for all possible cases
for windAngle in testFloatList:
for headingError in testFloatList:
self.assertGreaterEqual(
hc.get_feed_back_gain(headingError, windAngle),
0,
)