public void CanEqualsPIDLoop()
{
var pidLoop1 = new PIDLoop();
var pidLoop2 = new PIDLoop();
var op = new OperandPair(pidLoop1, pidLoop2);
var result = calc.Equal(op);
Assert.IsFalse((bool)result);
op = new OperandPair(pidLoop1, pidLoop1);
result = calc.Equal(op);
Assert.IsTrue((bool)result);
}
public TorquePI()
{
Loop = new PIDLoop();
Ts = 2;
TorqueAdjust = new MovingAverage();
}
public TorquePI()
{
Loop = new PIDLoop();
Ts = 2; /* FIXME: use high pass filter to measure output noise and decrease this value when no noise, and increase when it oscillates */
TorqueAdjust = new MovingAverage();
}
