Mirrors_Framework/RBF-aPID-Controller
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Added test for integral action.

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Andru Liu
2024-10-09 16:16:23 -07:00
parent 1bb321e7b1
commit 5a4c51c02d
1 changed files with 11 additions and 2 deletions
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NP_Implementation/test/test_aPID_np.py
+10 -1
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@@ -26,7 +26,6 @@ class TestAdaptivePIDNP(unittest.TestCase):
def test_update(self): def test_update(self):
"""Test the update method.""" """Test the update method."""
control_signal = self.apid.update(self.target, self.measured_value, self.dt) control_signal = self.apid.update(self.target, self.measured_value, self.dt)
self.assertIsInstance(control_signal, float) self.assertIsInstance(control_signal, float)
@@ -36,6 +35,16 @@ class TestAdaptivePIDNP(unittest.TestCase):
control_signal_2 = self.apid.update(self.target, self.measured_value, self.dt) control_signal_2 = self.apid.update(self.target, self.measured_value, self.dt)
self.assertNotEqual(control_signal, control_signal_2) self.assertNotEqual(control_signal, control_signal_2)
def test_integral_action(self):
"""Test the integral action."""
self.apid.update(self.target, self.measured_value, self.dt)
prev_integral = self.apid.integral
measured_value = 9.0
self.apid.update(self.target, measured_value, self.dt)
self.assertGreater(self.apid.integral, prev_integral)
if __name__ == '__main__': if __name__ == '__main__':
unittest.main() unittest.main()