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Added tests for motor inversions.

Browse Source 
This commit squashes all of Patrick's eleven commits into one
so that things are a bit more sane. The original commit messages
and change ids (for gerrit) can be found below.

Testing Motor Inversion Feature (Java tests only so far)

Change-Id: I44cd9b5a3fe066e1071316831dde14bff5ec3bd9

Test 2 of java testing for Motor Inverting

Change-Id: I96cc0534bb1d28a70d10c582f0b40ea3a2d83cab

Added another test to try to track down issue with InvertingMotor jaguar and Talon

Change-Id: I9b5292315c93ec0d568d53a6bcdac5b998a6d857

More Testing on the Inverting motors with jaguars and talons.

Change-Id: I896210a54903e3c0af68e8c41360c165cf9c3122

Added C++ integration Tests for the motor inversion.

Change-Id: I81af5d4aab78d755340d99608b838046bf7ddda1

C++ tests for Motor Inversion now without crashing

Change-Id: Ifdecdbfc1aeb18aafb2b4c63709b27636074a274

More testing of inverted motors (now with c++ tests)
Talon seems not to be working on test rig
Also added a CANJaguartest file in java since was missing
Currently porting the CANJaguar tests from c++ to java

Change-Id: Ib578d6ee1256ac31ddf20603aa6f24adde08065b

Another attempt at adding java tests for can jaguar inversion.

Change-Id: I971a886a4e555ada5bd15a814094da2a1eb5c8e1

Minor changes and attempt to rerun tests after yesterday's jenkins crash.

Change-Id: I7ed0904d4243499c3246e9c39e5493d0d9c962c5

All motor inversion tests should be working now. Talon on the test rig has been fixed.

Change-Id: I20bd6d7486b758ce1ce47ac799150475b3152b6f

Updated Inversion tests again. Should work this time. (worked on the test rig prior)

Change-Id: Ifdf222d5e5733fe802f29e7d939b72e84972e8da

Added tests for motor inversions.

This commit squashes all of Patrick's eleven commits into one
so that things are a bit more sane. The original commit messages
and change ids (for gerrit) can be found below.

Testing Motor Inversion Feature (Java tests only so far)

Change-Id: I44cd9b5a3fe066e1071316831dde14bff5ec3bd9

Test 2 of java testing for Motor Inverting

Change-Id: I96cc0534bb1d28a70d10c582f0b40ea3a2d83cab

Added another test to try to track down issue with InvertingMotor jaguar and Talon

Change-Id: I9b5292315c93ec0d568d53a6bcdac5b998a6d857

More Testing on the Inverting motors with jaguars and talons.

Change-Id: I896210a54903e3c0af68e8c41360c165cf9c3122

Added C++ integration Tests for the motor inversion.

Change-Id: I81af5d4aab78d755340d99608b838046bf7ddda1

C++ tests for Motor Inversion now without crashing

Change-Id: Ifdecdbfc1aeb18aafb2b4c63709b27636074a274

More testing of inverted motors (now with c++ tests)
Talon seems not to be working on test rig
Also added a CANJaguartest file in java since was missing
Currently porting the CANJaguar tests from c++ to java

Change-Id: Ib578d6ee1256ac31ddf20603aa6f24adde08065b

Another attempt at adding java tests for can jaguar inversion.

Change-Id: I971a886a4e555ada5bd15a814094da2a1eb5c8e1

Minor changes and attempt to rerun tests after yesterday's jenkins crash.

Change-Id: I7ed0904d4243499c3246e9c39e5493d0d9c962c5

All motor inversion tests should be working now. Talon on the test rig has been fixed.

Change-Id: I20bd6d7486b758ce1ce47ac799150475b3152b6f

Updated Inversion tests again. Should work this time. (worked on the test rig prior)

Change-Id: Ifdf222d5e5733fe802f29e7d939b72e84972e8da
This commit is contained in:
Patrick
2015-03-24 15:01:17 -04:00
committed by James Kuszmaul
parent 2d71c1c1c7
commit 0122086d23
34 changed files with 593 additions and 116 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
wpilibc/wpilibC++Devices/include/CANJaguar.h
View File

@@ -123,6 +123,8 @@ public:
void GetDescription(char *desc) const override;
uint8_t GetDeviceID() const;
//SpeedController overrides
virtual void SetInverted(bool isInverted) override;
protected:
// Control mode helpers
void SetSpeedReference(uint8_t reference);
@@ -223,4 +225,5 @@ protected:
private:
void InitCANJaguar();
bool m_isInverted;
};

2
wpilibc/wpilibC++Devices/include/CANTalon.h
View File

@@ -163,6 +163,7 @@ public:
void InitTable(ITable *subTable) override;
ITable * GetTable() const override;
virtual void SetInverted(bool isInverted) override;
private:
// Values for various modes as is sent in the CAN packets for the Talon.
enum TalonControlMode {
@@ -196,4 +197,5 @@ private:
// LiveWindow stuff.
ITable *m_table;
bool m_isInverted;
};

3
wpilibc/wpilibC++Devices/include/Jaguar.h
View File

@@ -22,7 +22,8 @@ public:
virtual void Disable();
virtual void PIDWrite(float output) override;
virtual void SetInverted(bool isInverted) override;
private:
void InitJaguar();
bool m_isInverted;
};

2
wpilibc/wpilibC++Devices/include/RobotDrive.h
View File

@@ -84,8 +84,6 @@ protected:
void RotateVector(double &x, double &y, double angle);
static const int32_t kMaxNumberOfMotors = 4;
int32_t m_invertedMotors[kMaxNumberOfMotors];
float m_sensitivity;
double m_maxOutput;
bool m_deleteSpeedControllers;

9
wpilibc/wpilibC++Devices/include/SpeedController.h
View File

@@ -17,17 +17,22 @@ public:
virtual ~SpeedController() {}
/**
* Common interface for setting the speed of a speed controller.
*
*
* @param speed The speed to set. Value should be between -1.0 and 1.0.
* @param syncGroup The update group to add this Set() to, pending UpdateSyncGroup(). If 0, update immediately.
*/
virtual void Set(float speed, uint8_t syncGroup = 0) = 0;
/**
* Common interface for getting the current set speed of a speed controller.
*
*
* @return The current set speed. Value is between -1.0 and 1.0.
*/
virtual float Get() const = 0;
/**
* common interface for inverting direction of a speed controller
* @param isInverted The state of inversion true is inverted
*/
virtual void SetInverted(bool isInverted) = 0;
/**
* Common interface for disabling a motor.
*/

3
wpilibc/wpilibC++Devices/include/Talon.h
View File

@@ -22,7 +22,8 @@ public:
virtual void Disable();
virtual void PIDWrite(float output) override;
virtual void SetInverted(bool isInverted) override;
private:
void InitTalon();
bool m_isInverted;
};

2
wpilibc/wpilibC++Devices/include/TalonSRX.h
View File

@@ -23,7 +23,9 @@ public:
virtual void Disable() override;
virtual void PIDWrite(float output) override;
virtual void SetInverted(bool isInverted) override;
private:
void InitTalonSRX();
bool m_isInverted;
};

2
wpilibc/wpilibC++Devices/include/Victor.h
View File

@@ -26,6 +26,8 @@ public:
virtual void PIDWrite(float output) override;
virtual void SetInverted(bool isInverted);
private:
void InitVictor();
bool m_isInverted;
};

2
wpilibc/wpilibC++Devices/include/VictorSP.h
View File

@@ -23,6 +23,8 @@ public:
virtual void PIDWrite(float output) override;
virtual void SetInverted(bool isInverted);
private:
void InitVictorSP();
bool m_isInverted;
};

17
wpilibc/wpilibC++Devices/src/CANJaguar.cpp
View File

@@ -204,7 +204,7 @@ void CANJaguar::InitCANJaguar()
default:
break;
}
m_isInverted = false;
HALReport(HALUsageReporting::kResourceType_CANJaguar, m_deviceNumber, m_controlMode);
LiveWindow::GetInstance()->AddActuator("CANJaguar", m_deviceNumber, this);
}
@@ -315,13 +315,13 @@ void CANJaguar::Set(float outputValue, uint8_t syncGroup)
messageID = LM_API_VOLT_T_SET;
if (outputValue > 1.0) outputValue = 1.0;
if (outputValue < -1.0) outputValue = -1.0;
dataSize = packPercentage(dataBuffer, outputValue);
dataSize = packPercentage(dataBuffer, (m_isInverted ? -outputValue : outputValue));
}
break;
case kSpeed:
{
messageID = LM_API_SPD_T_SET;
dataSize = packFXP16_16(dataBuffer, outputValue);
dataSize = packFXP16_16(dataBuffer, (m_isInverted ? -outputValue : outputValue));
}
break;
case kPosition:
@@ -339,7 +339,7 @@ void CANJaguar::Set(float outputValue, uint8_t syncGroup)
case kVoltage:
{
messageID = LM_API_VCOMP_T_SET;
dataSize = packFXP8_8(dataBuffer, outputValue);
dataSize = packFXP8_8(dataBuffer, (m_isInverted ? -outputValue : outputValue));
}
break;
default:
@@ -2118,6 +2118,15 @@ void CANJaguar::StopLiveWindowMode()
}
}
/**
* common interface for inverting direction of a speed controller
* Only works in PercentVbus, speed, and Voltage modes
* @param isInverted The state of inversion true is inverted
*/
void CANJaguar::SetInverted(bool isInverted){
m_isInverted = isInverted;
}
std::string CANJaguar::GetSmartDashboardType() const
{
return "Speed Controller";

16
wpilibc/wpilibC++Devices/src/CANTalon.cpp
View File

@@ -23,6 +23,7 @@ CANTalon::CANTalon(int deviceNumber)
{
ApplyControlMode(m_controlMode);
m_impl->SetProfileSlotSelect(m_profile);
m_isInverted = false;
}
/**
* Constructor for the CANTalon device.
@@ -131,7 +132,7 @@ void CANTalon::Set(float value, uint8_t syncGroup)
switch(m_controlMode) {
case CANSpeedController::kPercentVbus:
{
m_impl->Set(value);
m_impl->Set(m_isInverted ? -value : value);
status = CTR_OKAY;
}
break;
@@ -143,12 +144,12 @@ void CANTalon::Set(float value, uint8_t syncGroup)
case CANSpeedController::kVoltage:
{
// Voltage is an 8.8 fixed point number.
int volts = int(value * 256);
int volts = int((m_isInverted ? value: -value) * 256);
status = m_impl->SetDemand(volts);
}
break;
case CANSpeedController::kSpeed:
status = m_impl->SetDemand(value);
status = m_impl->SetDemand(m_isInverted ? -value : value);
break;
case CANSpeedController::kPosition:
status = m_impl->SetDemand(value);
@@ -1291,7 +1292,14 @@ void CANTalon::GetDescription(char *desc) const
{
sprintf(desc, "CANTalon ID %d", m_deviceNumber);
}
/**
* common interface for inverting direction of a speed controller
* Only works in PercentVbus, speed, and Voltage modes
* @param isInverted The state of inversion true is inverted
*/
void CANTalon::SetInverted(bool isInverted){
m_isInverted = isInverted;
}
/**
* Common interface for stopping the motor
* Part of the MotorSafety interface

11
wpilibc/wpilibC++Devices/src/Jaguar.cpp
View File

@@ -30,6 +30,7 @@ void Jaguar::InitJaguar()
HALReport(HALUsageReporting::kResourceType_Jaguar, GetChannel());
LiveWindow::GetInstance()->AddActuator("Jaguar", GetChannel(), this);
m_isInverted = false;
}
/**
@@ -56,7 +57,7 @@ Jaguar::~Jaguar()
*/
void Jaguar::Set(float speed, uint8_t syncGroup)
{
SetSpeed(speed);
SetSpeed(m_isInverted ? -speed : speed);
}
/**
@@ -76,7 +77,13 @@ void Jaguar::Disable()
{
SetRaw(kPwmDisabled);
}
/**
* common interface for inverting direction of a speed controller
* @param isInverted The state of inversion true is inverted
*/
void Jaguar::SetInverted(bool isInverted){
m_isInverted = isInverted;
}
/**
* Write out the PID value as seen in the PIDOutput base object.
*

55
wpilibc/wpilibC++Devices/src/RobotDrive.cpp
View File

@@ -57,10 +57,6 @@ RobotDrive::RobotDrive(uint32_t leftMotorChannel, uint32_t rightMotorChannel)
InitRobotDrive();
m_rearLeftMotor = new Talon(leftMotorChannel);
m_rearRightMotor = new Talon(rightMotorChannel);
for (int32_t i=0; i < kMaxNumberOfMotors; i++)
{
m_invertedMotors[i] = 1;
}
SetLeftRightMotorOutputs(0.0, 0.0);
m_deleteSpeedControllers = true;
}
@@ -83,10 +79,6 @@ RobotDrive::RobotDrive(uint32_t frontLeftMotor, uint32_t rearLeftMotor,
m_rearRightMotor = new Talon(rearRightMotor);
m_frontLeftMotor = new Talon(frontLeftMotor);
m_frontRightMotor = new Talon(frontRightMotor);
for (int32_t i=0; i < kMaxNumberOfMotors; i++)
{
m_invertedMotors[i] = 1;
}
SetLeftRightMotorOutputs(0.0, 0.0);
m_deleteSpeedControllers = true;
}
@@ -110,10 +102,6 @@ RobotDrive::RobotDrive(SpeedController *leftMotor, SpeedController *rightMotor)
}
m_rearLeftMotor = leftMotor;
m_rearRightMotor = rightMotor;
for (int32_t i=0; i < kMaxNumberOfMotors; i++)
{
m_invertedMotors[i] = 1;
}
m_deleteSpeedControllers = false;
}
@@ -122,10 +110,6 @@ RobotDrive::RobotDrive(SpeedController &leftMotor, SpeedController &rightMotor)
InitRobotDrive();
m_rearLeftMotor = &leftMotor;
m_rearRightMotor = &rightMotor;
for (int32_t i=0; i < kMaxNumberOfMotors; i++)
{
m_invertedMotors[i] = 1;
}
m_deleteSpeedControllers = false;
}
@@ -150,10 +134,6 @@ RobotDrive::RobotDrive(SpeedController *frontLeftMotor, SpeedController *rearLef
m_rearLeftMotor = rearLeftMotor;
m_frontRightMotor = frontRightMotor;
m_rearRightMotor = rearRightMotor;
for (int32_t i=0; i < kMaxNumberOfMotors; i++)
{
m_invertedMotors[i] = 1;
}
m_deleteSpeedControllers = false;
}
@@ -165,10 +145,6 @@ RobotDrive::RobotDrive(SpeedController &frontLeftMotor, SpeedController &rearLef
m_rearLeftMotor = &rearLeftMotor;
m_frontRightMotor = &frontRightMotor;
m_rearRightMotor = &rearRightMotor;
for (int32_t i=0; i < kMaxNumberOfMotors; i++)
{
m_invertedMotors[i] = 1;
}
m_deleteSpeedControllers = false;
}
@@ -508,10 +484,10 @@ void RobotDrive::MecanumDrive_Cartesian(float x, float y, float rotation, float
Normalize(wheelSpeeds);
m_frontLeftMotor->Set(wheelSpeeds[kFrontLeftMotor] * m_invertedMotors[kFrontLeftMotor] * m_maxOutput, m_syncGroup);
m_frontRightMotor->Set(wheelSpeeds[kFrontRightMotor] * m_invertedMotors[kFrontRightMotor] * m_maxOutput, m_syncGroup);
m_rearLeftMotor->Set(wheelSpeeds[kRearLeftMotor] * m_invertedMotors[kRearLeftMotor] * m_maxOutput, m_syncGroup);
m_rearRightMotor->Set(wheelSpeeds[kRearRightMotor] * m_invertedMotors[kRearRightMotor] * m_maxOutput, m_syncGroup);
m_frontLeftMotor->Set(wheelSpeeds[kFrontLeftMotor] * m_maxOutput, m_syncGroup);
m_frontRightMotor->Set(wheelSpeeds[kFrontRightMotor] * m_maxOutput, m_syncGroup);
m_rearLeftMotor->Set(wheelSpeeds[kRearLeftMotor] * m_maxOutput, m_syncGroup);
m_rearRightMotor->Set(wheelSpeeds[kRearRightMotor] * m_maxOutput, m_syncGroup);
if (m_syncGroup != 0)
{
@@ -558,10 +534,10 @@ void RobotDrive::MecanumDrive_Polar(float magnitude, float direction, float rota
Normalize(wheelSpeeds);
m_frontLeftMotor->Set(wheelSpeeds[kFrontLeftMotor] * m_invertedMotors[kFrontLeftMotor] * m_maxOutput, m_syncGroup);
m_frontRightMotor->Set(wheelSpeeds[kFrontRightMotor] * m_invertedMotors[kFrontRightMotor] * m_maxOutput, m_syncGroup);
m_rearLeftMotor->Set(wheelSpeeds[kRearLeftMotor] * m_invertedMotors[kRearLeftMotor] * m_maxOutput, m_syncGroup);
m_rearRightMotor->Set(wheelSpeeds[kRearRightMotor] * m_invertedMotors[kRearRightMotor] * m_maxOutput, m_syncGroup);
m_frontLeftMotor->Set(wheelSpeeds[kFrontLeftMotor] * m_maxOutput, m_syncGroup);
m_frontRightMotor->Set(wheelSpeeds[kFrontRightMotor] * m_maxOutput, m_syncGroup);
m_rearLeftMotor->Set(wheelSpeeds[kRearLeftMotor] * m_maxOutput, m_syncGroup);
m_rearRightMotor->Set(wheelSpeeds[kRearRightMotor] * m_maxOutput, m_syncGroup);
if (m_syncGroup != 0)
{
@@ -599,12 +575,12 @@ void RobotDrive::SetLeftRightMotorOutputs(float leftOutput, float rightOutput)
wpi_assert(m_rearLeftMotor != NULL && m_rearRightMotor != NULL);
if (m_frontLeftMotor != NULL)
m_frontLeftMotor->Set(Limit(leftOutput) * m_invertedMotors[kFrontLeftMotor] * m_maxOutput, m_syncGroup);
m_rearLeftMotor->Set(Limit(leftOutput) * m_invertedMotors[kRearLeftMotor] * m_maxOutput, m_syncGroup);
m_frontLeftMotor->Set(Limit(leftOutput) * m_maxOutput, m_syncGroup);
m_rearLeftMotor->Set(Limit(leftOutput) * m_maxOutput, m_syncGroup);
if (m_frontRightMotor != NULL)
m_frontRightMotor->Set(-Limit(rightOutput) * m_invertedMotors[kFrontRightMotor] * m_maxOutput, m_syncGroup);
m_rearRightMotor->Set(-Limit(rightOutput) * m_invertedMotors[kRearRightMotor] * m_maxOutput, m_syncGroup);
m_frontRightMotor->Set(-Limit(rightOutput) * m_maxOutput, m_syncGroup);
m_rearRightMotor->Set(-Limit(rightOutput) * m_maxOutput, m_syncGroup);
if (m_syncGroup != 0)
{
@@ -679,7 +655,12 @@ void RobotDrive::SetInvertedMotor(MotorType motor, bool isInverted)
wpi_setWPIError(InvalidMotorIndex);
return;
}
m_invertedMotors[motor] = isInverted ? -1 : 1;
switch(motor){
case kFrontLeftMotor: m_frontLeftMotor -> SetInverted(isInverted); break;
case kFrontRightMotor: m_frontRightMotor -> SetInverted(isInverted); break;
case kRearLeftMotor: m_rearLeftMotor -> SetInverted(isInverted); break;
case kRearRightMotor: m_rearRightMotor -> SetInverted(isInverted); break;
}
}
/**

11
wpilibc/wpilibC++Devices/src/Talon.cpp
View File

@@ -31,6 +31,7 @@ void Talon::InitTalon() {
HALReport(HALUsageReporting::kResourceType_Talon, GetChannel());
LiveWindow::GetInstance()->AddActuator("Talon", GetChannel(), this);
m_isInverted = false;
}
/**
@@ -57,7 +58,7 @@ Talon::~Talon()
*/
void Talon::Set(float speed, uint8_t syncGroup)
{
SetSpeed(speed);
SetSpeed(m_isInverted ? -speed : speed);
}
/**
@@ -77,7 +78,13 @@ void Talon::Disable()
{
SetRaw(kPwmDisabled);
}
/**
* common interface for inverting direction of a speed controller
* @param isInverted The state of inversion true is inverted
*/
void Talon::SetInverted(bool isInverted){
m_isInverted = isInverted;
}
/**
* Write out the PID value as seen in the PIDOutput base object.
*

9
wpilibc/wpilibC++Devices/src/TalonSRX.cpp
View File

@@ -30,6 +30,7 @@ void TalonSRX::InitTalonSRX() {
HALReport(HALUsageReporting::kResourceType_TalonSRX, GetChannel());
LiveWindow::GetInstance()->AddActuator("TalonSRX", GetChannel(), this);
m_isInverted = false;
}
/**
@@ -76,7 +77,13 @@ void TalonSRX::Disable()
{
SetRaw(kPwmDisabled);
}
/**
* common interface for inverting direction of a speed controller
* @param isInverted The state of inversion true is inverted
*/
void TalonSRX::SetInverted(bool isInverted){
m_isInverted = isInverted;
}
/**
* Write out the PID value as seen in the PIDOutput base object.
*

11
wpilibc/wpilibC++Devices/src/Victor.cpp
View File

@@ -33,6 +33,7 @@ void Victor::InitVictor() {
LiveWindow::GetInstance()->AddActuator("Victor", GetChannel(), this);
HALReport(HALUsageReporting::kResourceType_Victor, GetChannel());
m_isInverted = false;
}
/**
@@ -59,7 +60,7 @@ Victor::~Victor()
*/
void Victor::Set(float speed, uint8_t syncGroup)
{
SetSpeed(speed);
SetSpeed(m_isInverted ? -speed: speed);
}
/**
@@ -79,7 +80,13 @@ void Victor::Disable()
{
SetRaw(kPwmDisabled);
}
/**
* common interface for inverting direction of a speed controller
* @param isInverted The state of inversion true is inverted
*/
void Victor::SetInverted(bool isInverted){
m_isInverted = isInverted;
}
/**
* Write out the PID value as seen in the PIDOutput base object.
*

11
wpilibc/wpilibC++Devices/src/VictorSP.cpp
View File

@@ -31,6 +31,7 @@ void VictorSP::InitVictorSP() {
HALReport(HALUsageReporting::kResourceType_VictorSP, GetChannel());
LiveWindow::GetInstance()->AddActuator("VictorSP", GetChannel(), this);
m_isInverted = false;
}
/**
@@ -57,7 +58,7 @@ VictorSP::~VictorSP()
*/
void VictorSP::Set(float speed, uint8_t syncGroup)
{
SetSpeed(speed);
SetSpeed(m_isInverted ? -speed: speed);
}
/**
@@ -69,7 +70,13 @@ float VictorSP::Get() const
{
return GetSpeed();
}
/**
* common interface for inverting direction of a speed controller
* @param isInverted The state of inversion true is inverted
*/
void VictorSP::SetInverted(bool isInverted){
m_isInverted = isInverted;
}
/**
* Common interface for disabling a motor.
*/

63
wpilibc/wpilibC++IntegrationTests/src/CANJaguarTest.cpp
View File

@@ -27,6 +27,11 @@ static constexpr double kCurrentTolerance = 0.1;
static constexpr double kVoltageTolerance = 0.1;
static constexpr double kMotorVoltage = 5.0;
static constexpr double kMotorPercent = 0.5;
static constexpr double kMotorSpeed = 100;
class CANJaguarTest : public testing::Test {
protected:
CANJaguar *m_jaguar;
@@ -73,6 +78,39 @@ protected:
Wait(totalTime / 50.0);
}
}
/**
* returns the sign of the given number
*/
int SignNum(double value){
return -(value<0) + (value>0);
}
void InversionTest(float motorValue, float delayTime = kMotorTime){
m_jaguar->EnableControl();
m_jaguar->SetInverted(false);
SetJaguar(delayTime,motorValue);
double initialSpeed = m_jaguar->GetSpeed();
m_jaguar->Set(0.0);
m_jaguar->SetInverted(true);
SetJaguar(delayTime,motorValue);
double finalSpeed = m_jaguar->GetSpeed();
//checks that the motor has changed direction
EXPECT_FALSE(SignNum(initialSpeed) == SignNum(finalSpeed))
<< "CAN Jaguar did not invert direction positive. Initial speed was: "
<< initialSpeed << " Final displacement was: " << finalSpeed
<< " Sign of initial displacement was: " << SignNum(initialSpeed)
<< " Sign of final displacement was: " << SignNum(finalSpeed);
SetJaguar(delayTime,-motorValue);
initialSpeed = m_jaguar->GetSpeed();
m_jaguar->Set(0.0);
m_jaguar->SetInverted(false);
SetJaguar(delayTime,-motorValue);
finalSpeed = m_jaguar->GetSpeed();
EXPECT_FALSE(SignNum(initialSpeed) == SignNum(finalSpeed))
<< "CAN Jaguar did not invert direction negative. Initial displacement "
"was: " << initialSpeed << " Final displacement was: " << finalSpeed
<< " Sign of initial displacement was: " << SignNum(initialSpeed)
<< " Sign of final displacement was: " << SignNum(finalSpeed);
}
};
/**
@@ -423,3 +461,28 @@ TEST_F(CANJaguarTest, FakeLimitSwitchReverse) {
EXPECT_GT(m_jaguar->GetPosition(), initialPosition)
<< "CAN Jaguar should have moved forwards while the reverse limit was on";
}
/**
*Tests that inversion works in voltage mode
*/
TEST_F(CANJaguarTest, InvertingVoltageMode){
m_jaguar->SetVoltageMode(CANJaguar::QuadEncoder, 360);
m_jaguar->EnableControl();
InversionTest(kMotorVoltage);
}
/**
*Tests that inversion works in percentMode
*/
TEST_F(CANJaguarTest, InvertingPercentMode){
m_jaguar->SetPercentMode(CANJaguar::QuadEncoder, 360);
m_jaguar->EnableControl();
InversionTest(kMotorPercent);
}
/**
* Tests that inversion works in SpeedMode
*/
TEST_F(CANJaguarTest, InvertingSpeedMode){
m_jaguar->SetSpeedMode(CANJaguar::QuadEncoder, 360, 0.1f, 0.005f, 0.00f);
m_jaguar->EnableControl();
InversionTest(kMotorSpeed, kMotorTime);
}

110
wpilibc/wpilibC++IntegrationTests/src/MotorInvertingTest.cpp Normal file
View File

@@ -0,0 +1,110 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2014. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "WPILib.h"
#include "gtest/gtest.h"
#include "TestBench.h"
enum MotorInvertingTestType { TEST_VICTOR, TEST_JAGUAR, TEST_TALON };
static const double motorSpeed = 0.25;
static const double delayTime = 0.5;
std::ostream &operator<<(std::ostream &os, MotorInvertingTestType const &type) {
switch(type) {
case TEST_VICTOR: os << "Victor"; break;
case TEST_JAGUAR: os << "Jaguar"; break;
case TEST_TALON: os << "Talon"; break;
}
return os;
}
class MotorInvertingTest : public testing::TestWithParam<MotorInvertingTestType>{
protected:
SpeedController *m_speedController;
Encoder *m_encoder;
virtual void SetUp() {
switch(GetParam()) {
case TEST_VICTOR:
m_speedController = new Victor(TestBench::kVictorChannel);
m_encoder = new Encoder(TestBench::kVictorEncoderChannelA,
TestBench::kVictorEncoderChannelB);
break;
case TEST_JAGUAR:
m_speedController = new Jaguar(TestBench::kJaguarChannel);
m_encoder = new Encoder(TestBench::kJaguarEncoderChannelA,
TestBench::kJaguarEncoderChannelB);
break;
case TEST_TALON:
m_speedController = new Talon(TestBench::kTalonChannel);
m_encoder = new Encoder(TestBench::kTalonEncoderChannelA,
TestBench::kTalonEncoderChannelB);
break;
}
}
virtual void TearDown() {
delete m_speedController;
delete m_encoder;
}
void Reset() {
m_speedController->SetInverted(false);
m_speedController->Set(0.0f);
m_encoder->Reset();
}
};
TEST_P(MotorInvertingTest, InvertingPositive){
Reset();
m_speedController->Set(motorSpeed);
Wait(delayTime);
bool initDirection = m_encoder->GetDirection();
m_speedController->SetInverted(true);
m_speedController->Set(motorSpeed);
Wait(delayTime);
EXPECT_TRUE(m_encoder->GetDirection()!=initDirection) <<"Inverting with Positive value does not change direction";
Reset();
}
TEST_P(MotorInvertingTest, InvertingNegative){
Reset();
m_speedController->SetInverted(false);
m_speedController->Set(-motorSpeed);
Wait(delayTime);
bool initDirection = m_encoder->GetDirection();
m_speedController->SetInverted(true);
m_speedController->Set(-motorSpeed);
Wait(delayTime);
EXPECT_TRUE(m_encoder->GetDirection()!=initDirection) <<"Inverting with Negative value does not change direction";
Reset();
}
TEST_P(MotorInvertingTest, InvertingSwitchingPosToNeg){
Reset();
m_speedController->SetInverted(false);
m_speedController->Set(motorSpeed);
Wait(delayTime);
bool initDirection = m_encoder->GetDirection();
m_speedController->SetInverted(true);
m_speedController->Set(-motorSpeed);
Wait(delayTime);
EXPECT_TRUE(m_encoder->GetDirection()==initDirection) <<"Inverting with Switching value does change direction";
Reset();
}
TEST_P(MotorInvertingTest, InvertingSwitchingNegToPos){
Reset();
m_speedController->SetInverted(false);
m_speedController->Set(-motorSpeed);
Wait(delayTime);
bool initDirection = m_encoder->GetDirection();
m_speedController->SetInverted(true);
m_speedController->Set(motorSpeed);
Wait(delayTime);
EXPECT_TRUE(m_encoder->GetDirection()==initDirection) <<"Inverting with Switching value does change direction";
Reset();
}
INSTANTIATE_TEST_CASE_P(Test, MotorInvertingTest,
testing::Values(TEST_VICTOR, TEST_JAGUAR, TEST_TALON));

20
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java
View File

@@ -50,7 +50,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
/** Sets a potentiometer as the position reference only. <br> Passed as the "tag" when setting the control mode. */
public final static PotentiometerTag kPotentiometer = new PotentiometerTag();
private boolean isInverted = false;
/**
* Mode determines how the Jaguar is controlled, used internally.
*/
@@ -348,12 +348,12 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
switch(m_controlMode) {
case PercentVbus:
messageID = CANJNI.LM_API_VOLT_T_SET;
dataSize = packPercentage(data, outputValue);
dataSize = packPercentage(data, isInverted ? -outputValue: outputValue);
break;
case Speed:
messageID = CANJNI.LM_API_SPD_T_SET;
dataSize = packFXP16_16(data, outputValue);
dataSize = packFXP16_16(data, isInverted ? -outputValue: outputValue);
break;
case Position:
@@ -369,7 +369,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
case Voltage:
messageID = CANJNI.LM_API_VCOMP_T_SET;
dataSize = packFXP8_8(data, outputValue);
dataSize = packFXP8_8(data, isInverted ? -outputValue: outputValue);
break;
default:
@@ -422,7 +422,17 @@ public class CANJaguar implements MotorSafety, PIDOutput, PIDInterface, CANSpeed
disableControl();
}
/**
/**
* Inverts the direction of rotation of the motor
* Only works in percentVbus, Speed, and Voltage mode
* @param isInverted The state of inversion true is inverted
*/
@Override
public void setInverted(boolean isInverted) {
this.isInverted = isInverted;
}
/**
* Check all unverified params and make sure they're equal to their local
* cached versions. If a value isn't available, it gets requested. If a value
* doesn't match up, it gets set again.

20
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANTalon.java
View File

@@ -14,6 +14,7 @@ import edu.wpi.first.wpilibj.tables.ITableListener;
public class CANTalon implements MotorSafety, PIDOutput, PIDSource, PIDInterface, CANSpeedController, LiveWindowSendable {
private MotorSafetyHelper m_safetyHelper;
private boolean isInverted = false;
public enum TalonControlMode {
PercentVbus(0), Follower(5), Voltage(4), Position(1), Speed(2), Current(3), Disabled(15);
@@ -144,18 +145,18 @@ public class CANTalon implements MotorSafety, PIDOutput, PIDSource, PIDInterface
m_setPoint = outputValue;
switch (m_controlMode) {
case PercentVbus:
m_impl.Set(outputValue);
m_impl.Set(isInverted ? -outputValue: outputValue);
break;
case Follower:
m_impl.SetDemand((int)outputValue);
break;
case Voltage:
// Voltage is an 8.8 fixed point number.
int volts = (int)(outputValue * 256);
int volts = (int)((isInverted ? -outputValue: outputValue) * 256);
m_impl.SetDemand(volts);
break;
case Speed:
m_impl.SetDemand((int)outputValue);
m_impl.SetDemand((int)(isInverted ? -outputValue: outputValue));
break;
case Position:
m_impl.SetDemand((int)outputValue);
@@ -167,7 +168,18 @@ public class CANTalon implements MotorSafety, PIDOutput, PIDSource, PIDInterface
}
}
/**
/**
* Inverts the direction of the motor's rotation
* Only works in PercentVbus mode
*
* @param isInverted The state of inversion true is inverted
*/
@Override
public void setInverted(boolean isInverted) {
this.isInverted = isInverted;
}
/**
* Sets the output of the Talon.
*
* @param outputValue See set().

16
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Jaguar.java
View File

@@ -16,7 +16,7 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
* @see CANJaguar CANJaguar for CAN control
*/
public class Jaguar extends SafePWM implements SpeedController {
private boolean isInverted = false;
/**
* Common initialization code called by all constructors.
*/
@@ -63,7 +63,7 @@ public class Jaguar extends SafePWM implements SpeedController {
@Deprecated
@Override
public void set(double speed, byte syncGroup) {
setSpeed(speed);
setSpeed(isInverted ? -speed: speed);
Feed();
}
@@ -77,10 +77,20 @@ public class Jaguar extends SafePWM implements SpeedController {
*/
@Override
public void set(double speed) {
setSpeed(speed);
setSpeed(isInverted ? -speed: speed);
Feed();
}
/**
* Common interface for inverting direction of a speed controller
*
* @param isInverted The state of inversion true is inverted
*/
@Override
public void setInverted(boolean isInverted) {
this.isInverted = isInverted;
}
/**
* Get the recently set value of the PWM.
*

46
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/RobotDrive.java
View File

@@ -60,7 +60,6 @@ public class RobotDrive implements MotorSafety {
public static final double kDefaultSensitivity = 0.5;
public static final double kDefaultMaxOutput = 1.0;
protected static final int kMaxNumberOfMotors = 4;
protected final int m_invertedMotors[] = new int[4];
protected double m_sensitivity;
protected double m_maxOutput;
protected SpeedController m_frontLeftMotor;
@@ -89,9 +88,6 @@ public class RobotDrive implements MotorSafety {
m_rearLeftMotor = new Talon(leftMotorChannel);
m_frontRightMotor = null;
m_rearRightMotor = new Talon(rightMotorChannel);
for (int i = 0; i < kMaxNumberOfMotors; i++) {
m_invertedMotors[i] = 1;
}
m_allocatedSpeedControllers = true;
setupMotorSafety();
drive(0, 0);
@@ -115,9 +111,6 @@ public class RobotDrive implements MotorSafety {
m_rearRightMotor = new Talon(rearRightMotor);
m_frontLeftMotor = new Talon(frontLeftMotor);
m_frontRightMotor = new Talon(frontRightMotor);
for (int i = 0; i < kMaxNumberOfMotors; i++) {
m_invertedMotors[i] = 1;
}
m_allocatedSpeedControllers = true;
setupMotorSafety();
drive(0, 0);
@@ -142,9 +135,6 @@ public class RobotDrive implements MotorSafety {
m_rearRightMotor = rightMotor;
m_sensitivity = kDefaultSensitivity;
m_maxOutput = kDefaultMaxOutput;
for (int i = 0; i < kMaxNumberOfMotors; i++) {
m_invertedMotors[i] = 1;
}
m_allocatedSpeedControllers = false;
setupMotorSafety();
drive(0, 0);
@@ -169,10 +159,6 @@ public class RobotDrive implements MotorSafety {
m_frontRightMotor = frontRightMotor;
m_rearRightMotor = rearRightMotor;
m_sensitivity = kDefaultSensitivity;
m_maxOutput = kDefaultMaxOutput;
for (int i = 0; i < kMaxNumberOfMotors; i++) {
m_invertedMotors[i] = 1;
}
m_allocatedSpeedControllers = false;
setupMotorSafety();
drive(0, 0);
@@ -487,10 +473,10 @@ public class RobotDrive implements MotorSafety {
wheelSpeeds[MotorType.kRearRight_val] = xIn + yIn - rotation;
normalize(wheelSpeeds);
m_frontLeftMotor.set(wheelSpeeds[MotorType.kFrontLeft_val] * m_invertedMotors[MotorType.kFrontLeft_val] * m_maxOutput, m_syncGroup);
m_frontRightMotor.set(wheelSpeeds[MotorType.kFrontRight_val] * m_invertedMotors[MotorType.kFrontRight_val] * m_maxOutput, m_syncGroup);
m_rearLeftMotor.set(wheelSpeeds[MotorType.kRearLeft_val] * m_invertedMotors[MotorType.kRearLeft_val] * m_maxOutput, m_syncGroup);
m_rearRightMotor.set(wheelSpeeds[MotorType.kRearRight_val] * m_invertedMotors[MotorType.kRearRight_val] * m_maxOutput, m_syncGroup);
m_frontLeftMotor.set(wheelSpeeds[MotorType.kFrontLeft_val] * m_maxOutput, m_syncGroup);
m_frontRightMotor.set(wheelSpeeds[MotorType.kFrontRight_val] * m_maxOutput, m_syncGroup);
m_rearLeftMotor.set(wheelSpeeds[MotorType.kRearLeft_val] * m_maxOutput, m_syncGroup);
m_rearRightMotor.set(wheelSpeeds[MotorType.kRearRight_val] * m_maxOutput, m_syncGroup);
if (m_syncGroup != 0) {
CANJaguar.updateSyncGroup(m_syncGroup);
@@ -533,10 +519,10 @@ public class RobotDrive implements MotorSafety {
normalize(wheelSpeeds);
m_frontLeftMotor.set(wheelSpeeds[MotorType.kFrontLeft_val] * m_invertedMotors[MotorType.kFrontLeft_val] * m_maxOutput, m_syncGroup);
m_frontRightMotor.set(wheelSpeeds[MotorType.kFrontRight_val] * m_invertedMotors[MotorType.kFrontRight_val] * m_maxOutput, m_syncGroup);
m_rearLeftMotor.set(wheelSpeeds[MotorType.kRearLeft_val] * m_invertedMotors[MotorType.kRearLeft_val] * m_maxOutput, m_syncGroup);
m_rearRightMotor.set(wheelSpeeds[MotorType.kRearRight_val] * m_invertedMotors[MotorType.kRearRight_val] * m_maxOutput, m_syncGroup);
m_frontLeftMotor.set(wheelSpeeds[MotorType.kFrontLeft_val] * m_maxOutput, m_syncGroup);
m_frontRightMotor.set(wheelSpeeds[MotorType.kFrontRight_val] * m_maxOutput, m_syncGroup);
m_rearLeftMotor.set(wheelSpeeds[MotorType.kRearLeft_val] * m_maxOutput, m_syncGroup);
m_rearRightMotor.set(wheelSpeeds[MotorType.kRearRight_val] * m_maxOutput, m_syncGroup);
if (this.m_syncGroup != 0) {
CANJaguar.updateSyncGroup(m_syncGroup);
@@ -573,14 +559,14 @@ public class RobotDrive implements MotorSafety {
}
if (m_frontLeftMotor != null) {
m_frontLeftMotor.set(limit(leftOutput) * m_invertedMotors[MotorType.kFrontLeft_val] * m_maxOutput, m_syncGroup);
m_frontLeftMotor.set(limit(leftOutput) * m_maxOutput, m_syncGroup);
}
m_rearLeftMotor.set(limit(leftOutput) * m_invertedMotors[MotorType.kRearLeft_val] * m_maxOutput, m_syncGroup);
m_rearLeftMotor.set(limit(leftOutput) * m_maxOutput, m_syncGroup);
if (m_frontRightMotor != null) {
m_frontRightMotor.set(-limit(rightOutput) * m_invertedMotors[MotorType.kFrontRight_val] * m_maxOutput, m_syncGroup);
m_frontRightMotor.set(-limit(rightOutput) * m_maxOutput, m_syncGroup);
}
m_rearRightMotor.set(-limit(rightOutput) * m_invertedMotors[MotorType.kRearRight_val] * m_maxOutput, m_syncGroup);
m_rearRightMotor.set(-limit(rightOutput) * m_maxOutput, m_syncGroup);
if (this.m_syncGroup != 0) {
CANJaguar.updateSyncGroup(m_syncGroup);
@@ -640,9 +626,13 @@ public class RobotDrive implements MotorSafety {
* @param isInverted True if the motor should be inverted when operated.
*/
public void setInvertedMotor(MotorType motor, boolean isInverted) {
m_invertedMotors[motor.value] = isInverted ? -1 : 1;
switch (motor.value){
case MotorType.kFrontLeft_val: m_frontLeftMotor.setInverted(isInverted); break;
case MotorType.kFrontRight_val: m_frontRightMotor.setInverted(isInverted); break;
case MotorType.kRearLeft_val: m_rearLeftMotor.setInverted(isInverted); break;
case MotorType.kRearRight_val: m_rearRightMotor.setInverted(isInverted); break;
}
}
/**
* Set the turning sensitivity.
*

6
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/SpeedController.java
View File

@@ -34,6 +34,12 @@ public interface SpeedController extends PIDOutput {
*/
void set(double speed);
/**
* Common interface for inverting direction of a speed controller
*
* @param isInverted The state of inversion true is inverted
*/
void setInverted(boolean isInverted);
/**
* Disable the speed controller
*/

16
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Talon.java
View File

@@ -15,7 +15,7 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
* Cross the Road Electronics (CTRE) Talon and Talon SR Speed Controller
*/
public class Talon extends SafePWM implements SpeedController {
private boolean isInverted = false;
/**
* Common initialization code called by all constructors.
*
@@ -62,10 +62,11 @@ public class Talon extends SafePWM implements SpeedController {
* @param syncGroup The update group to add this Set() to, pending UpdateSyncGroup(). If 0, update immediately.
*/
public void set(double speed, byte syncGroup) {
setSpeed(speed);
setSpeed(isInverted ? -speed: speed);
Feed();
}
/**
* Set the PWM value.
*
@@ -75,9 +76,18 @@ public class Talon extends SafePWM implements SpeedController {
* @param speed The speed value between -1.0 and 1.0 to set.
*/
public void set(double speed) {
setSpeed(speed);
setSpeed(isInverted ? -speed: speed);
Feed();
}
/**
* Common interface for inverting direction of a speed controller
*
* @param isInverted The state of inversion true is inverted
*/
@Override
public void setInverted(boolean isInverted) {
this.isInverted = isInverted;
}
/**
* Get the recently set value of the PWM.

16
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/TalonSRX.java
View File

@@ -16,7 +16,7 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
* @see CANTalon CANTalon for CAN control of Talon SRX
*/
public class TalonSRX extends SafePWM implements SpeedController {
private boolean isInverted = false;
/**
* Common initialization code called by all constructors.
*
@@ -63,7 +63,7 @@ public class TalonSRX extends SafePWM implements SpeedController {
* @param syncGroup The update group to add this Set() to, pending UpdateSyncGroup(). If 0, update immediately.
*/
public void set(double speed, byte syncGroup) {
setSpeed(speed);
setSpeed(isInverted ? -speed: speed);
Feed();
}
@@ -76,10 +76,20 @@ public class TalonSRX extends SafePWM implements SpeedController {
* @param speed The speed value between -1.0 and 1.0 to set.
*/
public void set(double speed) {
setSpeed(speed);
setSpeed(isInverted ? -speed: speed);
Feed();
}
/**
* Common interface for inverting direction of a speed controller
*
* @param isInverted The state of inversion true is inverted
*/
@Override
public void setInverted(boolean isInverted) {
this.isInverted = isInverted;
}
/**
* Get the recently set value of the PWM.
*

16
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Victor.java
View File

@@ -18,7 +18,7 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
* class but may need to be calibrated per the Victor 884 user manual.
*/
public class Victor extends SafePWM implements SpeedController {
private boolean isInverted = false;
/**
* Common initialization code called by all constructors.
*
@@ -67,7 +67,7 @@ public class Victor extends SafePWM implements SpeedController {
* @param syncGroup The update group to add this Set() to, pending UpdateSyncGroup(). If 0, update immediately.
*/
public void set(double speed, byte syncGroup) {
setSpeed(speed);
setSpeed(isInverted ? -speed: speed);
Feed();
}
@@ -80,10 +80,20 @@ public class Victor extends SafePWM implements SpeedController {
* @param speed The speed value between -1.0 and 1.0 to set.
*/
public void set(double speed) {
setSpeed(speed);
setSpeed(isInverted ? -speed: speed);
Feed();
}
/**
* Common interface for inverting direction of a speed controller
*
* @param isInverted The state of inversion true is inverted
*/
@Override
public void setInverted(boolean isInverted) {
this.isInverted = isInverted;
}
/**
* Get the recently set value of the PWM.
*

16
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/VictorSP.java
View File

@@ -15,7 +15,7 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
* VEX Robotics Victor SP Speed Controller
*/
public class VictorSP extends SafePWM implements SpeedController {
private boolean isInverted = false;
/**
* Common initialization code called by all constructors.
*
@@ -62,7 +62,7 @@ public class VictorSP extends SafePWM implements SpeedController {
* @param syncGroup The update group to add this Set() to, pending UpdateSyncGroup(). If 0, update immediately.
*/
public void set(double speed, byte syncGroup) {
setSpeed(speed);
setSpeed(isInverted ? -speed: speed);
Feed();
}
@@ -75,10 +75,20 @@ public class VictorSP extends SafePWM implements SpeedController {
* @param speed The speed value between -1.0 and 1.0 to set.
*/
public void set(double speed) {
setSpeed(speed);
setSpeed(isInverted ? -speed: speed);
Feed();
}
/**
* Common interface for inverting direction of a speed controller
*
* @param isInverted The state of inversion true is inverted
*/
@Override
public void setInverted(boolean isInverted) {
this.isInverted = isInverted;
}
/**
* Get the recently set value of the PWM.
*

4
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java
View File

@@ -177,10 +177,10 @@ public class MotorEncoderTest extends AbstractComsSetup {
pid.setSetpoint(2500);
pid.enable();
Timer.delay(5.0);
Timer.delay(10.0);
pid.disable();
assertTrue("PID loop did not reach setpoint within 5 seconds. The error was: " + pid.getError(),
assertTrue("PID loop did not reach setpoint within 10 seconds. The error was: " + pid.getError(),
pid.onTarget());
pid.free();

110
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorInvertingTest.java Normal file
View File

@@ -0,0 +1,110 @@
package edu.wpi.first.wpilibj;
import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.test.TestBench;
import org.junit.AfterClass;
import org.junit.Before;
import org.junit.Test;
import org.junit.runner.RunWith;
import org.junit.runners.Parameterized;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
import java.util.Arrays;
import java.util.Collection;
import java.util.logging.Logger;
/**
* Tests Inversion of motors using the SpeedController setInverted
*/
@RunWith(Parameterized.class)
public class MotorInvertingTest extends AbstractComsSetup {
static MotorEncoderFixture<?> fixture = null;
private static final double motorspeed = 0.35;
private static final double delaytime = 0.3;
public MotorInvertingTest(MotorEncoderFixture<?> afixture){
logger.fine("Constructor with: " + afixture.getType());
if(fixture != null && !fixture.equals(afixture)) fixture.teardown();
fixture = afixture;
fixture.setup();
}
@Parameterized.Parameters(name= "{index}: {0}")
public static Collection<MotorEncoderFixture<?>[]> generateData(){
//logger.fine("Loading the MotorList");
return Arrays.asList(new MotorEncoderFixture<?>[][]{
{TestBench.getInstance().getTalonPair()},
{TestBench.getInstance().getVictorPair()},
{TestBench.getInstance().getJaguarPair()}
});
}
private static final Logger logger = Logger.getLogger(MotorInvertingTest.class.getName());
@Override
protected Logger getClassLogger(){
return logger;
}
@Before
public void setUp() {
// Reset the fixture elements before every test
fixture.reset();
}
@AfterClass
public static void tearDown() {
fixture.getMotor().setInverted(false);
// Clean up the fixture after the test
fixture.teardown();
}
@Test
public void testInvertingPositive(){
fixture.getMotor().setInverted(false);
fixture.getMotor().set(motorspeed);
Timer.delay(delaytime);
boolean initDirection = fixture.getEncoder().getDirection();
fixture.getMotor().setInverted(true);
fixture.getMotor().set(motorspeed);
Timer.delay(delaytime);
assertFalse("Inverting with Positive value does not change direction",fixture.getEncoder().getDirection()==initDirection);
fixture.getMotor().set(0);
}
@Test
public void testInvertingNegative(){
fixture.getMotor().setInverted(false);
fixture.getMotor().set(-motorspeed);
Timer.delay(delaytime);
boolean initDirection = fixture.getEncoder().getDirection();
fixture.getMotor().setInverted(true);
fixture.getMotor().set(-motorspeed);
Timer.delay(delaytime);
assertFalse("Inverting with Negative value does not change direction",fixture.getEncoder().getDirection()==initDirection);
fixture.getMotor().set(0);
}
@Test
public void testInvertingSwitchingPosToNeg(){
fixture.getMotor().setInverted(false);
fixture.getMotor().set(motorspeed);
Timer.delay(delaytime);
boolean initDirection = fixture.getEncoder().getDirection();
fixture.getMotor().setInverted(true);
fixture.getMotor().set(-motorspeed);
Timer.delay(delaytime);
assertTrue("Inverting with Switching value does change direction", fixture.getEncoder().getDirection() == initDirection);
fixture.getMotor().set(0);
}
@Test
public void testInvertingSwitchingNegToPos(){
fixture.getMotor().setInverted(false);
fixture.getMotor().set(-motorspeed);
Timer.delay(delaytime);
boolean initDirection = fixture.getEncoder().getDirection();
fixture.getMotor().setInverted(true);
fixture.getMotor().set(motorspeed);
Timer.delay(delaytime);
assertTrue("Inverting with Switching value does change direction", fixture.getEncoder().getDirection() == initDirection);
fixture.getMotor().set(0);
}
}

1
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/WpiLibJTestSuite.java
View File

@@ -28,6 +28,7 @@ import edu.wpi.first.wpilibj.test.AbstractTestSuite;
EncoderTest.class,
GyroTest.class,
MotorEncoderTest.class,
MotorInvertingTest.class,
PCMTest.class,
PDPTest.class,
PIDTest.class,

75
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANJaguarInversionTest.java Normal file
View File

@@ -0,0 +1,75 @@
package edu.wpi.first.wpilibj.can;
import edu.wpi.first.wpilibj.CANJaguar;
import edu.wpi.first.wpilibj.Timer;
import org.junit.Test;
import static org.junit.Assert.assertTrue;
import java.util.logging.Logger;
/**
* Created by Patrick Murphy on 3/30/15.
*/
public class CANJaguarInversionTest extends AbstractCANTest{
private static final Logger logger = Logger.getLogger(CANJaguarInversionTest.class.getName());
private static final double motorVoltage = 5.0;
private static final double motorPercent = 0.5;
private static final double motorSpeed = 100;
private static final double delayTime = 0.75;
private static final double speedModeDelayTime = 2.0;
@Override
protected Logger getClassLogger() {
return logger;
}
@Test
public void testInvertingVoltageMode(){
getME().getMotor().setVoltageMode(CANJaguar.kQuadEncoder, 360);
InversionTest(motorVoltage, delayTime);
}
@Test
public void testInvertingPercentMode(){
getME().getMotor().setPercentMode(CANJaguar.kQuadEncoder, 360);
InversionTest(motorPercent, delayTime);
}
@Test
public void testInvertingSpeedMode(){
getME().getMotor().setSpeedMode(CANJaguar.kQuadEncoder, 360, 0.1, 0.003, 0.01);
InversionTest(motorSpeed, speedModeDelayTime);
}
/**
* Runs an inversion test
* To use set the jaguar to the proper mode(PercentVbus, voltage, speed)
* @param setpoint the speed/voltage/percent to set the motor to
* @param delayTime the amount of time to delay between starting a motor and checking the encoder
*/
private void InversionTest(double setpoint, double delayTime) {
CANJaguar jag = this.getME().getMotor();
jag.enableControl();
jag.setInverted(false);
jag.set(setpoint);
Timer.delay(delayTime);
double initialSpeed = jag.getSpeed();
jag.set(0.0);
jag.setInverted(true);
jag.set(setpoint);
Timer.delay(delayTime);
jag.set(0.0);
double finalSpeed = jag.getSpeed();
assertTrue("Inverting with Positive value does not invert direction",
Math.signum(initialSpeed)!=
Math.signum(finalSpeed)
);
jag.set(-setpoint);
Timer.delay(delayTime);
initialSpeed = jag.getSpeed();
jag.set(0.0);
jag.setInverted(false);
jag.set(-setpoint);
Timer.delay(delayTime);
finalSpeed = jag.getSpeed();
jag.set(0.0);
assertTrue("Inverting with Negative value does not invert direction",
Math.signum(initialSpeed)!=
Math.signum(finalSpeed)
);
}
}

1
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANTestSuite.java
View File

@@ -19,6 +19,7 @@ import edu.wpi.first.wpilibj.test.AbstractTestSuite;
@RunWith(Suite.class)
@SuiteClasses({ CANCurrentQuadEncoderModeTest.class,
CANDefaultTest.class,
CANJaguarInversionTest.class,
CANPercentQuadEncoderModeTest.class,
CANPositionPotentiometerModeTest.class,
CANPositionQuadEncoderModeTest.class,

4
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/MotorEncoderFixture.java
View File

@@ -124,7 +124,7 @@ public abstract class MotorEncoderFixture <T extends SpeedController> implements
* Checks to see if the speed of the motor is within some range of a given value.
* This is used instead of equals() because doubles can have inaccuracies.
* @param value The value to compare against
* @param acuracy The accuracy range to check against to see if the
* @param accuracy The accuracy range to check against to see if the
* @return true if the range of values between motors speed accuracy contains the 'value'.
*/
public boolean isMotorSpeedWithinRange(double value, double accuracy){
@@ -136,7 +136,7 @@ public abstract class MotorEncoderFixture <T extends SpeedController> implements
public boolean reset(){
initialize();
boolean wasReset = true;
motor.setInverted(false);
motor.set(0);
Timer.delay(TestBench.MOTOR_STOP_TIME); //DEFINED IN THE TestBench
encoder.reset();