javascript/test/pid_neuro.js

   1 #!/usr/bin/env node
   2 const liba = require("../liba");
   3 function assert(expr) {
   4     if (!eval(expr)) {
   5         throw Error(expr);
   6     }
   7 }
   8 function do_leak_check() {
   9     for (const arg of arguments) {
  10         arg.delete();
  11     }
  12     if (liba.do_leak_check) {
  13         liba.do_leak_check();
  14     }
  15 }
  16 var ctx = new liba.pid_neuro();
  17 ctx.set_wpid(1, 0, 0).set_kpid(10, 1, 0.1, 1);
  18 console.log(ctx.zero().run(10, 0));
  19 console.log(ctx.zero().inc(10, 0));
  20 assert("ctx.k != undefined");
  21 assert("ctx.kp != undefined");
  22 assert("ctx.ki != undefined");
  23 assert("ctx.kd != undefined");
  24 assert("ctx.wp != undefined");
  25 assert("ctx.wi != undefined");
  26 assert("ctx.wd != undefined");
  27 assert("ctx.outmax != undefined");
  28 assert("ctx.outmin != undefined");
  29 assert("ctx.out != undefined");
  30 assert("ctx.fdb != undefined");
  31 assert("ctx.err != undefined");
  32 assert("ctx.ec != undefined");
  33 ctx.k = 0;
  34 ctx.kp = 0;
  35 ctx.ki = 0;
  36 ctx.kd = 0;
  37 ctx.wp = 0;
  38 ctx.wi = 0;
  39 ctx.wd = 0;
  40 ctx.outmax = 0;
  41 ctx.outmin = 0;
  42 do_leak_check(ctx);