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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

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.
*