public void PositiveIntegralTest1Step()
{
Integral t = new Integral();
//Utility.AccurateWaitSeconds(1);
t.Dt = 1.0;
Assert.AreEqual(1, t.Get(1), 0.02);
}
public void NegativeIntegralTest1Step()
{
Integral t = new Integral();
t.Dt = 1;
//Utility.AccurateWaitSeconds(1);
Assert.AreEqual(-1, t.Get(-1), 0.02);
}
public void PositiveIntegralTest10Step()
{
Integral t = new Integral();
t.Dt = 0.1;
for(int i = 0; i < 10; i++)
{
//Utility.AccurateWaitMilliseconds(100);
Assert.AreEqual(0.1 * (i + 1), t.Get(1), 0.02);
}
}
/// <summary>
/// Creates a new instance of the SimplePID class
/// </summary>
/// <param name="p">Proportional constant</param>
/// <param name="i">Integral Constant</param>
/// <param name="d">Derivative Constant</param>
/// <param name="min">Minimum allowed output of the PID loop</param>
/// <param name="max">Maximum allowed output of the PID loop</param>
public SimplePID(double p, double i, double d, double min, double max)
{
if(max < min)
throw new ArgumentException($"Invalid Arguments: {max} Is less than {min}");
m_kP = p; m_kI = i; m_kD = d;
Max = max;
Min = min;
SetPoint = 0;
m_d = new Derivative();
m_i = new Integral();
Continuous = false;
}