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(); }