public void DerivativePositiveTest10Hz()
{
Derivative d = new Derivative(0);
d.Dt = 0.1;
Assert.AreEqual(0, d.Get(0), double.Epsilon);
for (int i = 0; i < TestRepeats; i++)
{
//Utility.AccurateWaitSeconds(0.1);
Assert.AreEqual(1, d.Get(0.1 * (i + 1)), AcceptibleError);
}
}
/// <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;
}
/// <summary>
/// CSharpRoboticslib.Extras.EnhancedEncoder
/// </summary>
/// <param name="aChannel"></param>
/// <param name="bChannel"></param>
public EnhancedEncoder(int aChannel, int bChannel)
: base(aChannel, bChannel)
{
m_velocityFilter = new Derivative();
}