Added Approach script

[abiosbug]

First attempt to add a PID controlled approach script

[dbaumgarten]

I have taken a look at the commit where the tests complained about too many lines. There was indeed a trailing newline in the file (which some editors dont't seem to display). Opening the file in vscode clearly shows a 21th line.

Also running cat -A Scripts/Approach/approach.yolol gives:

sp=19 Kp=0.3 Ki=0 Kd=0.5 le=0 int=0 d=:Distance$
IF :Approach THEN :Cruise=0 :Mi=1 GOTO3 ELSE GOTO1 END$
IF :RFC AND :RFC<d THEN d=:RFC END $
e=d-sp de=e-le int=int+e o=Kp*e+(Ki*int)+(Kd*de) le=e$
IF d>999 OR e<10 THEN :Approach=0 GOTO8 END$
IF o>0 THEN :FCUForward=o ELSE :FCUForward=0 END$
IF o<0 THEN :FCUBackward=-o ELSE :FCUBackward=0 END$
IF :Approach THEN GOTO3 ELSE :FCUForward=0 :FCUBackward=0 END GOTO1$
$
$
$
$
$
$
$
$
$
$
$
// Approach script using pid loop, adjusted for the #JiltedOP$

(Note the $ at the end of the last line).

Tl;dr: everything works as it should work, but some editors dont show trailing LFs, leading to confusion

What editor are you using to write the script?

[abiosbug]

Hi, I just used the Github web interface ;-)

[dbaumgarten]

Well, now the checks are complaining that your code has no tests. The general rule is that all contributions need working tests, to ensure some level of quality for the code.

[martindevans]

The general rule is that all contributions need working tests, to ensure some level of quality for the code.

We discussed this in Discord and concluded there's not a great way to test this at the moment - you'd need some kind of test harness to reduce distance as "time" passed. What's the correct way to submit a script with no tests?

[dbaumgarten]

I don't really understand what the issue here is.

At least some basic cases should be able to be tested just fine. Set Approach, Distance and RFC to some values and test if FCUForward gets set to reasonable values.

There is no need to check every single edge-case. Just add some basic ones to make sure nothing is completely broken.

[abiosbug]

How would I be able to run the tests locally so I don't have to force a commit just have a test run? Reason being I don't know what the exact output of the PID loop is supposed to be, is there a way to have a test condition that uses less then or greater than? As in :output { FCUForward: GTE 10 } ? Answering my own question here: https://github.com/dbaumgarten/yodk

[dbaumgarten]

Exactly, the testing is done using the yodk, which you can use to run tests locally. Currently there is no feature to define conditions other then "exact match".