@ContinuousIntegrationTest(estimatedDuration = 0.3) @Test(timeout=300000) public void testSetIntegralLeakRatio2() { YoVariableRegistry registry = new YoVariableRegistry("robert"); PIDController pid = new PIDController("", registry); double leakRatio = random.nextDouble() * 100.0; pid.setIntegralLeakRatio(leakRatio); assertTrue(pid.getIntegralLeakRatio() <= 1.0); leakRatio = random.nextDouble() * -100.0; pid.setIntegralLeakRatio(leakRatio); assertTrue(pid.getIntegralLeakRatio() >= 0.0); }
@ContinuousIntegrationTest(estimatedDuration = 0.2) @Test(timeout=300000) public void testSetIntegralLeakRatio() { double leakRatio = random.nextDouble(); YoVariableRegistry registry = new YoVariableRegistry("robert"); PIDController pid = new PIDController("", registry); pid.setIntegralLeakRatio(leakRatio); assertEquals(leakRatio, pid.getIntegralLeakRatio(), 0.001); }
public void setGains(PIDGainsReadOnly gains) { pdController.setGains(gains); setMaximumOutputLimit(gains.getMaximumFeedback()); setIntegralLeakRatio(gains.getIntegralLeakRatio()); setIntegralGain(gains.getKi()); setMaxIntegralError(gains.getMaxIntegralError()); }
jointController.setIntegralGain(35.0 * subtreeMass); jointController.setMaxIntegralError(0.3); jointController.setIntegralLeakRatio(integralLeakRatio); jointController.setDerivativeGain(2.0 * subtreeMass); jointController.setMaximumOutputLimit(40.0 * subtreeMass); jointController.setIntegralGain(1000.0 * 50.0); jointController.setMaxIntegralError(0.2); jointController.setIntegralLeakRatio(integralLeakRatio); jointController.setDerivativeGain(500.0); jointController.setMaximumOutputLimit(400.0); jointController.setIntegralGain(1000.0 * 50.0); jointController.setMaxIntegralError(0.2); jointController.setIntegralLeakRatio(integralLeakRatio); jointController.setDerivativeGain(200.0); jointController.setMaximumOutputLimit(400.0); jointController.setIntegralGain(1000.0 * 50.0); jointController.setMaxIntegralError(0.2); jointController.setIntegralLeakRatio(integralLeakRatio); jointController.setDerivativeGain(500.0); jointController.setMaximumOutputLimit(400.0);
jointPositionController.setIntegralGain(35.0 * subtreeMass); jointPositionController.setMaxIntegralError(0.3); jointPositionController.setIntegralLeakRatio(integralLeakRatio); jointPositionController.setDerivativeGain(2.0 * subtreeMass); jointPositionController.setMaximumOutputLimit(40.0 * subtreeMass); jointVelocityController.setIntegralGain(35.0 * subtreeMass); jointVelocityController.setMaxIntegralError(0.3); jointVelocityController.setIntegralLeakRatio(integralLeakRatio); jointVelocityController.setMaximumOutputLimit(40.0 * subtreeMass); jointPositionController.setIntegralGain(9.0 * 50.0 * subtreeMass); jointPositionController.setMaxIntegralError(0.2); jointPositionController.setIntegralLeakRatio(integralLeakRatio); jointPositionController.setDerivativeGain(4.5 * subtreeMass); jointPositionController.setMaximumOutputLimit(3.5 * subtreeMass); jointVelocityController.setIntegralGain(9.0 * 50.0 * subtreeMass); jointVelocityController.setMaxIntegralError(0.2); jointVelocityController.setIntegralLeakRatio(integralLeakRatio); jointVelocityController.setMaximumOutputLimit(3.5 * subtreeMass); jointPositionController.setIntegralGain(1000.0 * 50.0); jointPositionController.setMaxIntegralError(0.2); jointPositionController.setIntegralLeakRatio(integralLeakRatio); jointPositionController.setDerivativeGain(200.0); jointPositionController.setMaximumOutputLimit(400.0); jointVelocityController.setIntegralGain(1000.0 * 50.0);
jointController.setIntegralGain(35.0 * subtreeMass); jointController.setMaxIntegralError(0.3); jointController.setIntegralLeakRatio(integralLeakRatio); jointController.setDerivativeGain(2.0 * subtreeMass); jointController.setMaximumOutputLimit(40.0 * subtreeMass); jointController.setIntegralGain(1000.0 * 50.0); jointController.setMaxIntegralError(0.2); jointController.setIntegralLeakRatio(integralLeakRatio); jointController.setDerivativeGain(500.0); jointController.setMaximumOutputLimit(400.0); jointController.setIntegralGain(1000.0 * 50.0); jointController.setMaxIntegralError(0.2); jointController.setIntegralLeakRatio(integralLeakRatio); jointController.setDerivativeGain(200.0); jointController.setMaximumOutputLimit(400.0); jointController.setIntegralGain(1000.0 * 50.0); jointController.setMaxIntegralError(0.2); jointController.setIntegralLeakRatio(integralLeakRatio); jointController.setDerivativeGain(500.0); jointController.setMaximumOutputLimit(400.0);