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 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
2026-07-05 03:21:42 +00:00 · 2015-03-24 15:01:17 -04:00
parent 2d71c1c1c7
commit 0122086d23
34 changed files with 593 additions and 116 deletions
--- a/wpilibc/wpilibC++Devices/include/CANJaguar.h
+++ b/wpilibc/wpilibC++Devices/include/CANJaguar.h
@@ -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;
 };
--- a/wpilibc/wpilibC++Devices/include/CANTalon.h
+++ b/wpilibc/wpilibC++Devices/include/CANTalon.h
@@ -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;
 };
--- a/wpilibc/wpilibC++Devices/include/Jaguar.h
+++ b/wpilibc/wpilibC++Devices/include/Jaguar.h
@@ -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;
 };
--- a/wpilibc/wpilibC++Devices/include/RobotDrive.h
+++ b/wpilibc/wpilibC++Devices/include/RobotDrive.h
@@ -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;
--- a/wpilibc/wpilibC++Devices/include/SpeedController.h
+++ b/wpilibc/wpilibC++Devices/include/SpeedController.h
@@ -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.
 	 */
--- a/wpilibc/wpilibC++Devices/include/Talon.h
+++ b/wpilibc/wpilibC++Devices/include/Talon.h
@@ -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;
 };
--- a/wpilibc/wpilibC++Devices/include/TalonSRX.h
+++ b/wpilibc/wpilibC++Devices/include/TalonSRX.h
@@ -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;
 };
--- a/wpilibc/wpilibC++Devices/include/Victor.h
+++ b/wpilibc/wpilibC++Devices/include/Victor.h
@@ -26,6 +26,8 @@ public:

 	virtual void PIDWrite(float output) override;

+    virtual void SetInverted(bool isInverted);
 private:
 	void InitVictor();
+	bool m_isInverted;
 };
--- a/wpilibc/wpilibC++Devices/include/VictorSP.h
+++ b/wpilibc/wpilibC++Devices/include/VictorSP.h
@@ -23,6 +23,8 @@ public:

 	virtual void PIDWrite(float output) override;

+    virtual void SetInverted(bool isInverted);
 private:
 	void InitVictorSP();
+	bool m_isInverted;
 };