diff options
| author |  Craig Tiller <ctiller@google.com> | 2017-01-03 11:31:34 -0800 |
|---|---|---|
| committer | Craig Tiller <ctiller@google.com> | 2017-01-03 11:31:34 -0800 |
| commit | 68c9dbe69414bb19e0d810304c48dc417d82a4c8 (patch) | |
| tree | f50f02f89b7d4e3e96a8dc1c1da1bef14e383bec /test/core | |
| parent | 88d81bffd181d047eefd131acde8b018ee85671b (diff) | |
Add clamping to pid controller, make arguments more readable
Diffstat (limited to 'test/core')
| -rw-r--r-- | test/core/transport/pid_controller_test.c | 19 |
1 files changed, 17 insertions, 2 deletions
diff --git a/test/core/transport/pid_controller_test.c b/test/core/transport/pid_controller_test.c index 3935a25322..af53d5b8cb 100644 --- a/test/core/transport/pid_controller_test.c +++ b/test/core/transport/pid_controller_test.c @@ -33,6 +33,7 @@ #include "src/core/lib/transport/pid_controller.h" +#include <float.h> #include <math.h> #include <grpc/support/alloc.h> @@ -45,7 +46,14 @@ static void test_noop(void) { gpr_log(GPR_INFO, "test_noop"); grpc_pid_controller pid; - grpc_pid_controller_init(&pid, 0, 1, 1, 1); + grpc_pid_controller_init( + &pid, (grpc_pid_controller_args){.gain_p = 1, + .gain_i = 1, + .gain_d = 1, + .initial_control_value = 1, + .min_control_value = DBL_MIN, + .max_control_value = DBL_MAX, + .integral_range = DBL_MAX}); } static void test_simple_convergence(double gain_p, double gain_i, double gain_d, @@ -55,7 +63,14 @@ static void test_simple_convergence(double gain_p, double gain_i, double gain_d, "start=%lf", gain_p, gain_i, gain_d, dt, set_point, start); grpc_pid_controller pid; - grpc_pid_controller_init(&pid, start, 0.2, 0.1, 0.1); + grpc_pid_controller_init( + &pid, (grpc_pid_controller_args){.gain_p = gain_p, + .gain_i = gain_i, + .gain_d = gain_d, + .initial_control_value = start, + .min_control_value = DBL_MIN, + .max_control_value = DBL_MAX, + .integral_range = DBL_MAX}); for (int i = 0; i < 1000; i++) { grpc_pid_controller_update(&pid, set_point - grpc_pid_controller_last(&pid), |