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node_modules/node-pid-controller/test/index.js

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