From 3732b90bbde2d6aec08cdf0e9da79aee77faa2ec Mon Sep 17 00:00:00 2001 From: Andru Liu <90433630+WallabyLester@users.noreply.github.com> Date: Wed, 9 Oct 2024 16:47:34 -0700 Subject: [PATCH] Added test of gain adaptation. --- NP_Implementation/test/test_aPID_np.py | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/NP_Implementation/test/test_aPID_np.py b/NP_Implementation/test/test_aPID_np.py index 771e14e..7d663e9 100644 --- a/NP_Implementation/test/test_aPID_np.py +++ b/NP_Implementation/test/test_aPID_np.py @@ -55,5 +55,16 @@ class TestAdaptivePIDNP(unittest.TestCase): self.assertLess(self.apid.derivative, prev_derivative) + def test_adaptive_gain(self): + """Test that adaptive gain is applied correctly.""" + + initial_control_signal = self.apid.update(self.target, self.measured_value, self.dt) + measured_value = self.measured_value + (initial_control_signal - self.measured_value) * self.dt + + adjusted_control_signal = self.apid.update(self.target, measured_value, self.dt) + + self.assertNotEqual(initial_control_signal, adjusted_control_signal) + self.assertLess(self.target-measured_value, self.target-self.measured_value) + if __name__ == '__main__': unittest.main()