Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-02 02:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Added a C++ CANJaguar test for initial status data

Browse Source 
Change-Id: I027d690027f2d80345f3044ff12ee7bc26f3fe95
This commit is contained in:
thomasclark
2014-06-26 10:51:26 -04:00
parent 02e19a0147
commit 06f8ff9225
1 changed files with 28 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

29
wpilibc/wpilibC++IntegrationTests/src/CANJaguarTest.cpp
View File

@@ -9,6 +9,9 @@
#include "gtest/gtest.h"
#include "TestBench.h"
static constexpr double kExpectedBusVoltage = 14.0;
static constexpr double kExpectedTemperature = 25.0;
static constexpr double kMotorTime = 0.5;
static constexpr double kEncoderSettlingTime = 0.25;
@@ -49,15 +52,39 @@ protected:
};
/*TEST_F(CANJaguarTest, QuickTest) {
m_jaguar->SetPercentMode(CANJaguar::Encoder, 360);
m_jaguar->SetSpeedMode(CANJaguar::Encoder, 360, 0.0, 0.0, 0.0);
while(DriverStation::GetInstance()->IsEnabled()) {
std::cout << m_jaguar->GetPosition() << std::endl;
std::cout << m_jaguar->GetSpeed() << std::endl;
std::cout << m_jaguar->GetTemperature() << std::endl;
Wait(0.02);
}
}*/
/**
* Checks the default status data for reasonable values to confirm that we're
* really getting status data from the Jaguar.
*/
TEST_F(CANJaguarTest, InitialStatus) {
m_jaguar->SetPercentMode();
EXPECT_NEAR(m_jaguar->GetBusVoltage(), kExpectedBusVoltage, 3.0)
<< "Bus voltage is not a plausible value.";
EXPECT_FLOAT_EQ(m_jaguar->GetOutputVoltage(), 0.0)
<< "Output voltage is non-zero.";
EXPECT_FLOAT_EQ(m_jaguar->GetOutputCurrent(), 0.0)
<< "Output current is non-zero.";
EXPECT_NEAR(m_jaguar->GetTemperature(), kTempe, 5.0)
<< "Temperature is not a plausible value.";
EXPECT_EQ(m_jaguar->GetFaults(), 0)
<< "Jaguar has one or more fault set.";
}
/**
* Test if we can drive the motor in percentage mode and get a position back
*/