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add tests for PID

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riggja 2020-10-14 16:54:22 -08:00
parent f12599405a
commit 8aba508fcb
1 changed files with 147 additions and 1 deletions
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148
test/test.cpp
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@ -1,6 +1,152 @@
#include "Arduino.h" #include "Arduino.h"
#include "ArduinoUnitTests.h" #include "ArduinoUnitTests.h"
#include <PID_v1.h>
unittest(test) { assertTrue(true); } unittest(direct) {
// Define Variables we'll be connecting to
double Setpoint, Input, Output;
// Specify the links and initial tuning parameters
PID myPID(&Input, &Output, &Setpoint, 2, 5, 1, DIRECT);
// initialize the variables we're linked to
Input = 50;
Setpoint = 100;
// turn the PID on
myPID.SetMode(AUTOMATIC);
for (int i = 0; i < 1000; i++) {
delay(200);
if (myPID.Compute()) {
Input = Input + (Output - Input) / 25.6;
}
}
// std::cout << "Input = " << Input << "; Output = " << Output << std::endl;
assertEqual(Setpoint, round(Input));
}
unittest(reverse) {
// Define Variables we'll be connecting to
double Setpoint, Input, Output;
// Specify the links and initial tuning parameters
PID myPID(&Input, &Output, &Setpoint, 2, 5, 1, REVERSE);
// initialize the variables we're linked to
Input = 50;
Setpoint = 100;
// turn the PID on
myPID.SetMode(AUTOMATIC);
for (int i = 0; i < 1000; i++) {
delay(200);
if (myPID.Compute()) {
Input = Input + (Input - Output) / 25.6;
}
}
// std::cout << "Input = " << Input << "; Output = " << Output << std::endl;
assertEqual(Setpoint, round(Input));
}
unittest(mode) {
// Define Variables we'll be connecting to
double Setpoint, Input, Output;
// Specify the links and initial tuning parameters
PID myPID(&Input, &Output, &Setpoint, 2, 5, 1, REVERSE);
// initialize the variables we're linked to
Input = 50;
Setpoint = 100;
// turn the PID on
myPID.SetMode(MANUAL);
for (int i = 0; i < 1000; i++) {
delay(200);
if (myPID.Compute()) {
Input = Input + (Input - Output) / 25.6;
}
}
// std::cout << "Input = " << Input << "; Output = " << Output << std::endl;
assertEqual(50, round(Input));
}
unittest(getFunctions) {
// Define Variables we'll be connecting to
double Setpoint, Input, Output;
// Specify the links and initial tuning parameters
PID myPID(&Input, &Output, &Setpoint, 2, 5, 1, REVERSE);
// initialize the variables we're linked to
Input = 50;
Setpoint = 100;
// turn the PID on
myPID.SetMode(AUTOMATIC);
// std::cout << "Input = " << Input << "; Output = " << Output << std::endl;
assertEqual(2, myPID.GetKp());
assertEqual(5, myPID.GetKi());
assertEqual(1, myPID.GetKd());
assertEqual(REVERSE, myPID.GetDirection());
assertEqual(AUTOMATIC, myPID.GetMode());
}
unittest(sampleTimeWorks) {
// Define Variables we'll be connecting to
double Setpoint, Input, Output;
// Specify the links and initial tuning parameters
PID myPID(&Input, &Output, &Setpoint, 2, 5, 1, REVERSE);
// initialize the variables we're linked to
Input = 50;
Setpoint = 100;
bool flag = false;
// turn the PID on
myPID.SetMode(AUTOMATIC);
for (int i = 0; i < 1000; i++) {
delay(200);
if (myPID.Compute()) {
flag = true;
Input = Input + (Input - Output) / 25.6;
}
}
// std::cout << "Input = " << Input << "; Output = " << Output << std::endl;
assertTrue(flag);
}
unittest(sampleTimeNotWorks) {
// Define Variables we'll be connecting to
double Setpoint, Input, Output;
// Specify the links and initial tuning parameters
PID myPID(&Input, &Output, &Setpoint, 2, 5, 1, REVERSE);
// initialize the variables we're linked to
Input = 50;
Setpoint = 100;
bool flag = false;
// turn the PID on
myPID.SetMode(MANUAL);
for (int i = 0; i < 1000; i++) {
delay(199);
if (myPID.Compute()) {
flag = true;
Input = Input + (Input - Output) / 25.6;
}
}
// std::cout << "Input = " << Input << "; Output = " << Output << std::endl;
assertFalse(flag);
}
unittest_main() unittest_main()