Mirrors_Framework/RBF-aPID-Controller
1
0
Fork 0
mirror of https://github.com/WallabyLester/RBF-aPID-Controller.git synced 2026-06-01 03:56:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added test for update function.

Browse Source
This commit is contained in:
Andru Liu
2024-10-09 16:00:30 -07:00
parent b22f728a88
commit 229075f8a6
1 changed files with 15 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
NP_Implementation/test/test_aPID_np.py
+15
View File
@@ -15,5 +15,20 @@ class TestAdaptivePIDNP(unittest.TestCase):
self.rbf = RBFNetwork(self.input_dim, self.n_centers) self.rbf = RBFNetwork(self.input_dim, self.n_centers)
self.apid = AdaptivePIDNP(Kp, Ki, Kd, self.rbf) self.apid = AdaptivePIDNP(Kp, Ki, Kd, self.rbf)
def test_update(self):
"""Test the update method."""
target = 10.0
measured_value = 8.0
dt = 0.1
control_signal = self.apid.update(target, measured_value, dt)
self.assertIsInstance(control_signal, float)
self.assertGreater(control_signal, 0)
measured_value = 9.0
control_signal_2 = self.apid.update(target, measured_value, dt)
self.assertNotEqual(control_signal, control_signal_2)
if __name__ == '__main__': if __name__ == '__main__':
unittest.main() unittest.main()