add pidtest

1 files changed, 35 insertions, 0 deletions

diff --git a/zumo/pidtest.cpp b/zumo/pidtest.cpp
new file mode 100644
index 0000000..f5198bb
--- /dev/null
+++ b/zumo/pidtest.cpp
@@ -0,0 +1,35 @@
+#include <cstdio>
+#include <random>
+
+#include "pid.h"
+
+std::random_device rd;
+std::mt19937 rng(rd());
+std::uniform_real_distribution<float> uni(0,13);
+
+auto random_integer = uni(rng);
+
+int main() {
+	float P, I, D;
+	do {
+		// P = uni(rng);
+		// I = uni(rng);
+		// D = uni(rng);
+		P = 10;
+		I = 0.1;
+		D = 10;
+		PID test(P, I, D);
+		test.reset(0.0);
+
+		float val = 0;
+		for (unsigned int i = 0; i < 100; i++) val = test.iter(1.0);
+		// if (val > 0.999 && val < 1.001) {
+			fprintf(stderr, "P: %.3f :: I: %.3f :: D: %.3f\n", P, I, D);
+			test.reset(0.0);
+			for (unsigned int i = 0; i < 100; i++) {
+				printf("%2.8f\n", test.iter(1.0));
+			}
+			exit(0);
+		// }
+	} while (false);
+}