@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout=300000) public void testHasNotBeenUpdated() { double val = velocityYoVariable.getDoubleValue(); assertEquals(0.0, val, 0.0); }
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout=300000) public void testHasBeenUpdatedOnce() { position.set(1.0); timestamp.set(2.0); velocityYoVariable.update(); double val = velocityYoVariable.getDoubleValue(); assertEquals(0.0, val, 0.0); }
velocityIfEncoderTicksNowConstantAccel.set( finiteDifferenceVelocity.getDoubleValue() + finiteDifferenceAccel.getDoubleValue() * timeSinceLastPosChange.getDoubleValue()); this.set( alphaFilter( finiteDifferenceVelocity.getDoubleValue() ));
velocityIfEncoderTicksNowConstantAccel.set( finiteDifferenceVelocity.getDoubleValue() + finiteDifferenceAccel.getDoubleValue() * timeSinceLastPosChange.getDoubleValue()); this.set( alphaFilter( finiteDifferenceVelocity.getDoubleValue() ));
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout=300000) public void testHasBeenUpdatedTwice() { velocityYoVariable.update(); position.set(1.0); timestamp.set(2.0); velocityYoVariable.update(); double val = velocityYoVariable.getDoubleValue(); assertEquals(position.getDoubleValue() / timestamp.getDoubleValue(), val, 0.0); }
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout=300000) public void testHasBeenUpdatedThreeTimesNoChange() { velocityYoVariable.update(); position.set(1.0); timestamp.set(2.0); velocityYoVariable.update(); timestamp.set(4.0); velocityYoVariable.update(); double val = velocityYoVariable.getDoubleValue(); assertEquals(0.5, val, 0.0); } }
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout=300000) public void testHasBeenUpdatedThreeTimes() { velocityYoVariable.update(); position.set(1.0); timestamp.set(2.0); velocityYoVariable.update(); position.set(2.0); timestamp.set(3.0); velocityYoVariable.update(); double val = velocityYoVariable.getDoubleValue(); assertEquals(1.0, val, 0.0); }
unfilteredVelocity.set(finiteDifferenceVelocity.getDoubleValue()); positionPredicted.set( currentPosition + lastPositionIncrement.getDoubleValue()); velocityIfEncoderTicksNowConstantAccel.set( finiteDifferenceVelocity.getDoubleValue() + finiteDifferenceAccel.getDoubleValue() * timeSinceLastPosChange.getDoubleValue());
unfilteredVelocity.set(finiteDifferenceVelocity.getDoubleValue()); positionPredicted.set( currentPosition + lastPositionIncrement.getDoubleValue()); velocityIfEncoderTicksNowConstantAccel.set( finiteDifferenceVelocity.getDoubleValue() + finiteDifferenceAccel.getDoubleValue() * timeSinceLastPosChange.getDoubleValue());