Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-24 01:31:46 +00:00
Code Issues Packages Projects Releases Wiki Activity

Merge "Added a Jaguar brownout test in C++, cleaned up some C++ tests"

Browse Source
This commit is contained in:
Jonathan Leitschuh (WPI)
2014-07-23 12:46:25 -07:00
committed by Gerrit Code Review
parent 26d101caf9 202bfb2959
commit 01ca19f78f
2 changed files with 68 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
wpilibc/wpilibC++IntegrationTests/include/TestBench.h
View File

@@ -50,6 +50,7 @@ public:
/* Relay channels */
static const uint32_t kRelayChannel = 0;
static const uint32_t kCANJaguarRelayChannel = 1;
/* CAN IDs */
static const uint32_t kCANJaguarID = 2;

89
wpilibc/wpilibC++IntegrationTests/src/CANJaguarTest.cpp
View File

@@ -9,6 +9,8 @@
#include "gtest/gtest.h"
#include "TestBench.h"
static constexpr double kSpikeTime = 0.5;
static constexpr double kExpectedBusVoltage = 14.0;
static constexpr double kExpectedTemperature = 25.0;
@@ -30,8 +32,13 @@ protected:
CANJaguar *m_jaguar;
DigitalOutput *m_fakeForwardLimit, *m_fakeReverseLimit;
AnalogOutput *m_fakePotentiometer;
Relay *m_spike;
virtual void SetUp() {
m_spike = new Relay(TestBench::kCANJaguarRelayChannel, Relay::kForwardOnly);
m_spike->Set(Relay::kOn);
Wait(kSpikeTime);
m_jaguar = new CANJaguar(TestBench::kCANJaguarID);
m_fakeForwardLimit = new DigitalOutput(TestBench::kFakeJaguarForwardLimit);
@@ -52,6 +59,7 @@ protected:
delete m_fakeForwardLimit;
delete m_fakeReverseLimit;
delete m_fakePotentiometer;
delete m_spike;
}
/**
@@ -68,36 +76,39 @@ protected:
};
/**
* Tests that allocating the same CANJaguar port as an already allocated port throws a resource already allocated error code.
* Tests that allocating the same CANJaguar port as an already allocated port
* causes a ResourceAlreadyAllocated error.
*/
TEST_F(CANJaguarTest, DuplicateAllocationCausesError) {
std::cout<<"The following error is an expected part of the test system"<<std::endl;
CANJaguar *m_jaguar = new CANJaguar(TestBench::kCANJaguarID);
EXPECT_EQ(wpi_error_value_ResourceAlreadyAllocated, m_jaguar->GetError().GetCode()) << "An error should have been returned";
//See WPIErrors.h for error code comparison
delete m_jaguar;
TEST_F(CANJaguarTest, AlreadyAllocatedError) {
std::cout << "The following errors are expected.";
CANJaguar jaguar(TestBench::kCANJaguarID);
EXPECT_EQ(wpi_error_value_ResourceAlreadyAllocated, jaguar.GetError().GetCode())
<< "An error should have been returned";
}
/**
* Tests that allocating a CANJaguar device beyond the range of devices throws a module index out of range error code.
* Test that allocating a CANJaguar with device number 64 causes an
* out-of-range error.
*/
TEST_F(CANJaguarTest, OutOfRangeAllocationCausesError) {
std::cout<<"The following error is an expected part of the test system"<<std::endl;
CANJaguar *m_jaguar = new CANJaguar(64);
EXPECT_EQ( wpi_error_value_ModuleIndexOutOfRange, m_jaguar->GetError().GetCode()) << "An error should have been returned";
//See WPIErrors.h for error code comparison
delete m_jaguar; //This will also return an error
TEST_F(CANJaguarTest, 64OutOfRangeError) {
std::cout << "The following errors are expected.";
CANJaguar jaguar(64);
EXPECT_EQ(wpi_error_value_ChannelIndexOutOfRange, jaguar.GetError().GetCode())
<< "An error should have been returned";
}
/**
* Tests that allocating a negative CANJaguar device throws a module index out of range error code.
* Test that allocating a CANJaguar with device number 0 causes an out-of-range
* error.
*/
TEST_F(CANJaguarTest, OutOfRangeNegativeAllocationCausesError) {
std::cout<<"The following error is an expected part of the test system"<<std::endl;
CANJaguar *m_jaguar = new CANJaguar(0);
EXPECT_EQ(wpi_error_value_ModuleIndexOutOfRange, m_jaguar->GetError().GetCode()) << "An error should have been returned";
//See WPIErrors.h for error code comparison
delete m_jaguar; //This will also return an error
TEST_F(CANJaguarTest, 0OutOfRangeError) {
std::cout << "The following errors are expected.";
CANJaguar jaguar(0);
EXPECT_EQ(wpi_error_value_ChannelIndexOutOfRange, jaguar.GetError().GetCode())
<< "An error should have been returned";
}
/**
@@ -123,6 +134,39 @@ TEST_F(CANJaguarTest, InitialStatus) {
<< "Jaguar has one or more fault set.";
}
/**
* Make sure the Jaguar keeps its state after a power cycle by setting a
* control mode, turning the spike on and off, then checking if the Jaguar
* behaves like it should in that control mode.
*/
TEST_F(CANJaguarTest, BrownOut) {
double setpoint = 10.0;
/* Set the jaguar to quad encoder position mode */
m_jaguar->SetPositionMode(CANJaguar::QuadEncoder, 360, 10.0f, 0.1f, 0.0f);
m_jaguar->EnableControl();
SetJaguar(kMotorTime, 0.0);
/* Turn the spike off and on again */
m_spike->Set(Relay::kOff);
Wait(kSpikeTime);
m_spike->Set(Relay::kOn);
Wait(kSpikeTime);
/* The jaguar should automatically get set to quad encoder position mode,
so it should be able to reach a setpoint in a couple seconds. */
for(int i = 0; i < 10; i++) {
SetJaguar(1.0f, setpoint);
if(std::abs(m_jaguar->GetPosition() - setpoint) <= kEncoderPositionTolerance) {
return;
}
}
EXPECT_NEAR(setpoint, m_jaguar->GetPosition(), kEncoderPositionTolerance)
<< "CAN Jaguar should have resumed PID control after power cycle";
}
/**
* Test if we can set arbitrary setpoints and PID values each each applicable
* mode and get the same values back.
@@ -288,7 +332,8 @@ TEST_F(CANJaguarTest, FakePotentiometerPosition) {
SetJaguar(kPotentiometerSettlingTime);
EXPECT_NEAR(m_fakePotentiometer->GetVoltage() / 3.0f, m_jaguar->GetPosition(), kPotentiometerPositionTolerance)
EXPECT_NEAR(m_fakePotentiometer->GetVoltage() / 3.0f, m_jaguar->GetPosition(),
kPotentiometerPositionTolerance)
<< "CAN Jaguar should have returned the potentiometer position set by the analog output";
}
}