def test_percent_tolerance(pid_controller: PIDController,
pid_runner: ControllerRunner):
reference = 50
tolerance = 10
inp = pid_controller.measurement_source
pid_controller.setPercentTolerance(tolerance)
pid_controller.setReference(reference)
pid_runner.enable()
assert not pid_controller.atReference(), (
"Error was in tolerance when it should not have been. Error was %f" %
pid_controller.getError())
# half of percent tolerance away from reference
inp.return_value = reference + tolerance / 200 * input_range
time.sleep(1)
assert pid_controller.atReference(), (
"Error was not in tolerance when it should have been. Error was %f" %
pid_controller.getError())
# double percent tolerance away from reference
inp.return_value = reference + tolerance / 50 * input_range
time.sleep(1)
assert not pid_controller.atReference(), (
"Error was in tolerance when it should not have been. Error was %f" %
pid_controller.getError())
def test_absolute_tolerance(pid_controller: PIDController,
pid_runner: ControllerRunner):
reference = 50
tolerance = 10
inp = pid_controller.measurement_source
pid_controller.setAbsoluteTolerance(tolerance)
pid_controller.setReference(reference)
pid_runner.enable()
time.sleep(1)
assert not pid_controller.atReference(), (
"Error was in tolerance when it should not have been. Error was %f" %
pid_controller.getError())
inp.return_value = reference + tolerance / 2
time.sleep(1)
assert pid_controller.atReference(), (
"Error was not in tolerance when it should have been. Error was %f" %
pid_controller.getError())
inp.return_value = reference + 10 * tolerance
time.sleep(1)
assert not pid_controller.atReference(), (
"Error was in tolerance when it should not have been. Error was %f" %
pid_controller.getError())