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Tuned some values in tests to account for hardware imperfections.

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Messed with some gyro and CANJaguar tests.
Note: The encoder for the CANJaguar slips a great deal with the motor accelerates rapidly.

Change-Id: I09547f95b122eb48b4f97c0496f970cf1a77c5b2
This commit is contained in:
James Kuszmaul
2015-05-18 11:56:49 -04:00
parent 1e4e0bacde
commit 1805968d78
5 changed files with 28 additions and 28 deletions
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8
wpilibc/wpilibC++IntegrationTests/src/TiltPanCameraTest.cpp
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@@ -11,7 +11,7 @@
static constexpr double kServoResetTime = 2.0;
static constexpr double kTestAngle = 180.0;
static constexpr double kTestAngle = 90.0;
static constexpr double kTiltSetpoint0 = 0.22;
static constexpr double kTiltSetpoint45 = 0.45;
@@ -45,7 +45,7 @@ protected:
m_pan = new Servo(TestBench::kCameraPanChannel);
m_spiAccel = new ADXL345_SPI(SPI::kOnboardCS0);
m_tilt->SetAngle(90.0f);
m_tilt->Set(kTiltSetpoint45);
m_pan->SetAngle(0.0f);
Wait(kServoResetTime);
@@ -78,8 +78,8 @@ TEST_F(TiltPanCameraTest, GyroAngle) {
Wait(0.25);
m_gyro->Reset();
for(int i = 0; i < 1800; i++) {
m_pan->SetAngle(i / 10.0);
for(int i = 0; i < 600; i++) {
m_pan->Set(i / 1000.0);
Wait(0.001);
}