84 lines
2.1 KiB
JavaScript
84 lines
2.1 KiB
JavaScript
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/**
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* Module dependencies.
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*/
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var Controller = require('../')
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, should = require('should')
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, assert = require('assert')
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;
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/**
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* Tests
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*/
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describe('pid-controller', function(){
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var options = {
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k_p: 0.5,
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k_i: 0.1,
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k_d: 0.2,
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dt: 1
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};
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// Create the controller
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var ctr = new Controller(options.k_p, options.k_i, options.k_d, options.dt);
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it('should have set the coefficient', function() {
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ctr.k_p.should.equal(options.k_p);
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ctr.k_i.should.equal(options.k_i);
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ctr.k_d.should.equal(options.k_d);
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ctr.dt.should.equal(options.dt);
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});
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it('should have set the coefficient from an options object', function(){
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var ctr = new Controller(options);
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ctr.k_p.should.equal(options.k_p);
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ctr.k_i.should.equal(options.k_i);
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ctr.k_d.should.equal(options.k_d);
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ctr.dt.should.equal(options.dt);
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});
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it('should set the target', function(){
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var v = 120; // 120km/h
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ctr.setTarget(v);
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ctr.target.should.equal(v);
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});
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it('should return the correction', function(){
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var vt = 110; // current speed
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var correction = ctr.update(vt);
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correction.should.equal(8);
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});
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it('should reset the controller', function(){
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ctr.reset();
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ctr.sumError.should.equal(0);
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ctr.lastError.should.equal(0);
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ctr.lastTime.should.equal(0);
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});
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it('should return the correction for the given update interval', function(){
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ctr.dt = 2; // 2 seconds between updates
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var correction = ctr.update(115);
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correction.should.equal(4);
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ctr.dt = options.dt; // Reset dt
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});
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it('should return the correction with sumError <= i_max', function() {
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var ctr = new Controller(options);
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ctr.i_max = 5; // sumError will be 10
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ctr.setTarget(120);
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var correction = ctr.update(110);
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correction.should.equal(7.5);
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ctr.sumError.should.be.belowOrEqual(ctr.i_max);
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});
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it('should return a null correction', function(){
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var ctr = new Controller(0, 0, 0);
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ctr.setTarget(120);
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var correction = ctr.update(110);
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correction.should.equal(0);
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});
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});
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