153 lines
3.7 KiB
C++
153 lines
3.7 KiB
C++
#include "Arduino.h"
|
|
#include "ArduinoUnitTests.h"
|
|
#include <PID_v1.h>
|
|
|
|
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()
|