mirror of
https://github.com/wpilibsuite/allwpilib
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101 lines
3.2 KiB
C++
101 lines
3.2 KiB
C++
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "WPILib.h"
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#include "gtest/gtest.h"
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#include "TestBench.h"
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/* The current returned when the motor is not being driven */
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static const double kLowCurrent = 1.52;
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static const double kCurrentTolerance = 0.1;
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class PowerDistributionPanelTest : public testing::Test {
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protected:
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PowerDistributionPanel *m_pdp;
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Talon *m_talon;
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Victor *m_victor;
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Jaguar *m_jaguar;
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virtual void SetUp() {
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m_pdp = new PowerDistributionPanel();
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m_talon = new Talon(TestBench::kTalonChannel);
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m_victor = new Victor(TestBench::kVictorChannel);
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m_jaguar = new Jaguar(TestBench::kJaguarChannel);
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}
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virtual void TearDown() {
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delete m_pdp;
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delete m_talon;
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delete m_victor;
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delete m_jaguar;
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}
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void Reset() {
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/* Reset all speed controllers to 0.0 */
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m_talon->Set(0.0f);
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m_victor->Set(0.0f);
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m_jaguar->Set(0.0f);
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}
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};
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/**
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* Test if the current changes when the motor is driven using a talon
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*/
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TEST_F(PowerDistributionPanelTest, CheckCurrentTalon) {
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Reset();
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/* The Current should be kLowCurrent */
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EXPECT_NEAR(kLowCurrent, m_pdp->GetCurrent(TestBench::kTalonPDPChannel), kCurrentTolerance)
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<< "The low current was not within the expected range.";
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/* Set the motor to full forward */
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m_talon->Set(1.0);
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Wait(0.02);
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/* The current should now be greater than the low current */
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ASSERT_GT(m_pdp->GetCurrent(TestBench::kTalonPDPChannel), kLowCurrent)
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<< "The driven current is not greater than the resting current.";
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}
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/**
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* Test if the current changes when the motor is driven using a victor
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*/
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TEST_F(PowerDistributionPanelTest,CheckCurrentVictor) {
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Reset();
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/* The Current should be kLowCurrent */
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EXPECT_NEAR(kLowCurrent, m_pdp->GetCurrent(TestBench::kVictorPDPChannel), kCurrentTolerance)
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<< "The low current was not within the expected range.";
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/* Set the motor to full forward */
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m_victor->Set(1.0);
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Wait(0.02);
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/* The current should now be greater than the low current */
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ASSERT_GT(m_pdp->GetCurrent(TestBench::kVictorPDPChannel), kLowCurrent)
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<< "The driven current is not greater than the resting current.";
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}
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/**
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* Test if the current changes when the motor is driven using a jaguar
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*/
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TEST_F(PowerDistributionPanelTest, CheckCurrentJaguar) {
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Reset();
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/* The Current should be kLowCurrent */
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EXPECT_NEAR(kLowCurrent, m_pdp->GetCurrent(TestBench::kJaguarPDPChannel), kCurrentTolerance)
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<< "The low current was not within the expected range.";
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/* Set the motor to full forward */
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m_jaguar->Set(1.0);
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Wait(0.02);
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/* The current should now be greater than the low current */
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ASSERT_GT(m_pdp->GetCurrent(TestBench::kJaguarPDPChannel), kLowCurrent)
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<< "The driven current is not greater than the resting current.";
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}
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