From 31555c3c2a1afa35a89ffe9a7aaf8d5f374f0b8b Mon Sep 17 00:00:00 2001 From: Andru Liu <90433630+WallabyLester@users.noreply.github.com> Date: Wed, 9 Oct 2024 20:23:04 -0700 Subject: [PATCH] Test for adaptation of the control signal. --- TF_Implementation/test/test_aPID_tf.py | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/TF_Implementation/test/test_aPID_tf.py b/TF_Implementation/test/test_aPID_tf.py index 18a7cb4..7f3e00e 100644 --- a/TF_Implementation/test/test_aPID_tf.py +++ b/TF_Implementation/test/test_aPID_tf.py @@ -42,6 +42,16 @@ class TestAdaptivePIDTf(unittest.TestCase): derivative = self.apid.derivative self.assertAlmostEqual(derivative, (self.target - self.measured_value)/self.dt) + def test_adaptation(self): + """ Test adaptation of the control signal.""" + control_signal_before = self.apid.update(self.target, self.measured_value, self.dt) + + measured_value = self.measured_value + (control_signal_before - self.measured_value) * self.dt + + control_signal_after = self.apid.update(self.target, measured_value, self.dt) + + self.assertNotEqual(control_signal_before, control_signal_after) + self.assertLess((self.target - measured_value), self.target - self.measured_value) if __name__ == '__main__': unittest.main()