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Added tests for motor inversions.

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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

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.
*/