Merge "Adds/Extends several integration tests. Modifies Java Servo with correct values according to the datasheet assoiciated with the Hitec HS-322HD"

wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/PWM.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008-2012. All Rights Reserved.                        */
+/* Copyright (c) FIRST 2008-2014. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -201,7 +201,7 @@ public class PWM extends SensorBase implements LiveWindowSendable {
     * @param deadbandMin The low end of the deadband pulse width in ms
     * @param min The minimum pulse width in ms
     */
-    void setBounds(double max, double deadbandMax, double center, double deadbandMin, double min) {
+    protected void setBounds(double max, double deadbandMax, double center, double deadbandMin, double min) {
         double loopTime = m_module.getLoopTiming()/(kSystemClockTicksPerMicrosecond*1e3);
 
         m_maxPwm = (int)((max-kDefaultPwmCenter)/loopTime+kDefaultPwmStepsDown-1);

wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Servo.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008-2012. All Rights Reserved.                        */
+/* Copyright (c) FIRST 2008-2014. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -22,17 +22,21 @@ import edu.wpi.first.wpilibj.tables.ITableListener;
  */
 public class Servo extends PWM implements IDevice {
 
-    private static final double kMaxServoAngle = 170.0;
+    private static final double kMaxServoAngle = 180.0;
     private static final double kMinServoAngle = 0.0;
+    
+    private static final double kDefaultMaxServoPWM = 2.4;
+    private static final double kDefaultMinServoPWM = .6;
 
     /**
      * Common initialization code called by all constructors.
      *
      * InitServo() assigns defaults for the period multiplier for the servo PWM control signal, as
      * well as the minimum and maximum PWM values supported by the servo.
+     * 
      */
     private void initServo() {
-        setBounds(2.27, 0, 0, 0, .743);
+        setBounds(kDefaultMaxServoPWM, 0, 0, 0, kDefaultMinServoPWM);
         setPeriodMultiplier(PeriodMultiplier.k4X);
 
         LiveWindow.addActuator("Servo", getModuleNumber(), getChannel(), this);
@@ -40,7 +44,10 @@ public class Servo extends PWM implements IDevice {
     }
 
     /**
-     * Constructor that assumes the default digital module.
+     * Constructor that assumes the default digital module.<br>
+     * 
+     * By default {@value #kDefaultMaxServoPWM} ms is used as the maxPWM value<br>
+     * By default {@value #kDefaultMinServoPWM} ms is used as the minPWM value<br>
      *
      * @param channel The PWM channel on the digital module to which the servo is attached.
      */
@@ -50,8 +57,11 @@ public class Servo extends PWM implements IDevice {
     }
 
     /**
-     * Constructor that specifies the digital module.
+     * Constructor that specifies the digital module.<br>
      *
+     * By default {@value #kDefaultMaxServoPWM} ms is used as the maxPWM value<br>
+     * By default {@value #kDefaultMinServoPWM} ms is used as the minPWM value<br>
+     * 
      * @param slot The slot in the chassis that the digital module is plugged into.
      * @param channel The PWM channel on the digital module to which the servo is attached.
      */
@@ -59,8 +69,9 @@ public class Servo extends PWM implements IDevice {
         super(slot, channel);
         initServo();
     }
+    
 
-    /**
+	/**
      * Set the servo position.
      *
      * Servo values range from 0.0 to 1.0 corresponding to the range of full left to full right.

wpilibj/wpilibJavaIntegrationTests/README.md

@@ -0,0 +1,7 @@
+TO LOAD  & RUN INTEGRATION TESTS
+
+1) Run 'mvn clean package' from this directory
+2) Run 'scp target/wpilibJavaIntegrationTests-0.1.0-SNAPSHOT.jar admin@10.1.90.2:/home/admin' and enter the password on the RoboRio
+3) ssh into the RoboRio using 'ssh admin@10.1.90.2'
+4) Run the integration tests on the roborio using './runintegrationjavaprogram'
+5) Enable the robot using a driver station (this will be automatic eventually)

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java

@@ -1,91 +1,133 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2014. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
 package edu.wpi.first.wpilibj;
 
+import static org.junit.Assert.assertFalse;
 import static org.junit.Assert.assertTrue;
 
+import java.util.ArrayList;
+import java.util.List;
+
 import org.junit.AfterClass;
 import org.junit.Before;
 import org.junit.BeforeClass;
 import org.junit.Test;
 
-import edu.wpi.first.wpilibj.groups.MotorEncoder;
+import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
 import edu.wpi.first.wpilibj.test.AbstractComsSetup;
 import edu.wpi.first.wpilibj.test.TestBench;
 
 public class MotorEncoderTest extends AbstractComsSetup {
 	
-	private static final double MOTOR_RUNTIME = 2.5;
+	private static final double MOTOR_RUNTIME = .5;
 	
-	static MotorEncoder pairs [] = new MotorEncoder[3];
+	private static final List<MotorEncoderFixture> pairs = new ArrayList<MotorEncoderFixture>();
 	
 
 	@BeforeClass
 	public static void classSetup() {
 		// Set up the fixture before the test is created
-		pairs[0] = TestBench.getInstance().getTalonPair();
-		pairs[1] = TestBench.getInstance().getVictorPair();
-		pairs[2] = TestBench.getInstance().getJaguarPair();
-		//pairs[3] = TestBench.getInstance().getCanJaguarPair();
+		pairs.add(TestBench.getInstance().getTalonPair());
+		pairs.add(TestBench.getInstance().getVictorPair());
+		pairs.add(TestBench.getInstance().getJaguarPair());
+		pairs.add(TestBench.getInstance().getCanJaguarPair());
 		
-		for(MotorEncoder me : pairs){
+		for(MotorEncoderFixture me : pairs){
 			me.reset();
 		}
 	}
+	
+	/**
+	 * Checks to see if this MotorEncoderFixture is fully configured for encoder testing
+	 * @param me The motor encoder under test
+	 * @return true if this motor encoder has an encoder attached to it
+	 */
+	boolean shouldRunTest(MotorEncoderFixture me){
+		return me.getType().equals(Victor.class.getSimpleName()) || me.getType().equals(Talon.class.getSimpleName());
+	}
 
 	@Before
 	public void setUp() {
-		// Reset the fixture elements before every test
+		for(MotorEncoderFixture me : pairs){
+			double initialSpeed = me.getMotor().get();
+			assertTrue(me.getType() + " Did not start with an initial speeed of 0 instead got: " + initialSpeed, Math.abs(initialSpeed) < 0.001);
+			me.setup();
+		}
 		
 	}
 
 	@AfterClass
 	public static void tearDown() {
 		// Clean up the fixture after the test
-		for(MotorEncoder me : pairs){
-			me.reset();
+		for(MotorEncoderFixture me : pairs){
+			me.teardown();
+		}
+		pairs.clear();
+	}
+	
+	/**
+	 * Test to ensure that the isMotorWithinRange method is functioning properly.
+	 * Really only needs to run on one MotorEncoderFixture to ensure that it is working correctly.
+	 */
+	@Test
+	public void testIsMotorWithinRange(){
+		for(MotorEncoderFixture me: pairs){
+			double range = 0.01;
+			assertTrue(me.getType()  + " 1", me.isMotorSpeedWithinRange(0.0, range));
+			assertTrue(me.getType()  + " 2", me.isMotorSpeedWithinRange(0.0, -range));
+			assertFalse(me.getType() + " 3", me.isMotorSpeedWithinRange(1.0, range));
+			assertFalse(me.getType() + " 4", me.isMotorSpeedWithinRange(-1.0, range));
 		}
 	}
 
 	/**
-	 * This test is designed to see if the values of different motors will increment
+	 * This test is designed to see if the values of different motors will increment when spun forward
 	 */
 	@Test
 	public void testIncrement() {
-		int i = 0;
-		for(MotorEncoder me: pairs){
+		for(MotorEncoderFixture me: pairs){
 			int startValue = me.getEncoder().get();
 			
 			me.getMotor().set(.75);
 			Timer.delay(MOTOR_RUNTIME);
 			int currentValue = me.getEncoder().get();
-			if(i == 1){ //TODO REMOVE THIS WHEN ALL ENCODERS ARE PROPERLY ATTACHED
-				assertTrue("Encoder not incremented: start: " + startValue + "; current: " + currentValue, startValue < currentValue);
+			if(shouldRunTest(me)){ //TODO REMOVE THIS WHEN ALL ENCODERS ARE PROPERLY ATTACHED
+				assertTrue(me.getType() + " Encoder not incremented: start: " + startValue + "; current: " + currentValue, startValue < currentValue);
 			}
 			me.reset();
-			i++;
+			encodersResetCheck(me);
 		}
 	}
 	
+	/**
+	 * This test is designed to see if the values of different motors will decrement when spun in reverse
+	 */
 	@Test
 	public void testDecrement(){
-		int i = 0;
-		for(MotorEncoder me: pairs){
+		for(MotorEncoderFixture me: pairs){
 			int startValue = me.getEncoder().get();
 			
 			me.getMotor().set(-.75);
 			Timer.delay(MOTOR_RUNTIME);
 			int currentValue = me.getEncoder().get();
-			if(i == 1){ //TODO REMOVE THIS WHEN ALL ENCODERS ARE PROPERLY ATTACHED
-				assertTrue("Encoder not decremented: start: " + startValue + "; current: " + currentValue, startValue > currentValue);
+			if(shouldRunTest(me)){ //TODO REMOVE THIS WHEN ALL ENCODERS ARE PROPERLY ATTACHED
+				assertTrue(me.getType() + " Encoder not decremented: start: " + startValue + "; current: " + currentValue, startValue > currentValue);
 			}
 			me.reset();
-			i++;
+			encodersResetCheck(me);
 		}
 	}
 	
+	/**
+	 * This method test if the counters count when the motors rotate
+	 */
 	@Test
 	public void testCouter(){
-		int i = 0;
-		for(MotorEncoder me: pairs){
+		for(MotorEncoderFixture me: pairs){
 			int counter1Start = me.getCounters()[0].get();
 			int counter2Start = me.getCounters()[1].get();
 			
@@ -93,13 +135,57 @@ public class MotorEncoderTest extends AbstractComsSetup {
 			Timer.delay(MOTOR_RUNTIME);
 			int counter1End = me.getCounters()[0].get();
 			int counter2End = me.getCounters()[1].get();
-			if(i == 1){ //TODO REMOVE THIS WHEN ALL ENCODERS ARE PROPERLY ATTACHED
-				assertTrue("Counter not incremented: start: " + counter1Start + "; current: " + counter1End, counter1Start < counter1End);
-				assertTrue("Counter not incremented: start: " + counter1Start + "; current: " + counter2End, counter2Start < counter2End);
+			if(shouldRunTest(me)){ //TODO REMOVE THIS WHEN ALL ENCODERS ARE PROPERLY ATTACHED
+				assertTrue(me.getType() + " Counter not incremented: start: " + counter1Start + "; current: " + counter1End, counter1Start < counter1End);
+				assertTrue(me.getType() + " Counter not incremented: start: " + counter1Start + "; current: " + counter2End, counter2Start < counter2End);
 			}
 			me.reset();
-			i++;
+			encodersResetCheck(me);
 		}
 	}
+	
+	/**
+	 * Tests to see if you set the speed to something not <= 1.0 if the code appropriately throttles the value
+	 */
+	@Test
+	public void testSetHighForwardSpeed(){
+		for(MotorEncoderFixture me:pairs){
+			me.getMotor().set(15);
+			assertTrue(me.getType() + " Motor speed was not close to 1.0, was: " + me.getMotor().get(), me.isMotorSpeedWithinRange(1.0, 0.001));
+			me.reset();
+		}
+	}
+	
+	/**
+	 * Tests to see if you set the speed to something not >= -1.0 if the code appropriately throttles the value
+	 */
+	@Test
+	public void testSetHighReverseSpeed(){
+		for(MotorEncoderFixture me:pairs){
+			me.getMotor().set(-15);
+			assertTrue(me.getType() + " Motor speed was not close to 1.0, was: " + me.getMotor().get(), me.isMotorSpeedWithinRange(-1.0, 0.001));
+			me.reset();
+		}
+	}
+	
+	 
+	
+	
+	/**
+	 * Checks to see if the encoders and counters are appropriately reset to zero when reset
+	 * @param me The MotorEncoderFixture under test
+	 */
+	private void encodersResetCheck(MotorEncoderFixture me){
+		int encoderVal =  me.getEncoder().get();
+		int counterVal[] = new int[2];
+		for(int i = 0; i < 2; i++){
+			counterVal[i] = me.getCounters()[i].get();
+		}
+		double motorVal = me.getMotor().get();
+		assertTrue(me.getType() + " Encoder value: " + encoderVal + " when it should be 0", encoderVal == 0);
+		assertTrue(me.getType() + " Motor value: " + motorVal + " when it should be 0", motorVal == 0);
+		assertTrue(me.getType() + " Counter value " + counterVal[0] + " when is should be 0", counterVal[0] == 0);
+		assertTrue(me.getType() + " Counter value " + counterVal[1] + " when is should be 0", counterVal[1] == 0);
+	}
 
 }

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/SampleTest.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008-2012. All Rights Reserved.                        */
+/* Copyright (c) FIRST 2008-2014. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/TiltPanCameraTest.java

@@ -0,0 +1,69 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2014. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj;
+
+import static org.junit.Assert.*;
+
+import org.junit.After;
+import org.junit.AfterClass;
+import org.junit.Before;
+import org.junit.BeforeClass;
+import org.junit.Test;
+
+import edu.wpi.first.wpilibj.fixtures.TiltPanCameraFixture;
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
+import edu.wpi.first.wpilibj.test.TestBench;
+
+public class TiltPanCameraTest extends AbstractComsSetup {
+	
+	public static final double TEST_ANGLE = 180.0;
+	
+	private TiltPanCameraFixture tpcam;
+
+	@BeforeClass
+	public static void setUpBeforeClass() throws Exception {
+	}
+
+	@AfterClass
+	public static void tearDownAfterClass() throws Exception {
+	}
+
+	@Before
+	public void setUp() throws Exception {
+		tpcam = TestBench.getInstance().getTiltPanCam();
+		tpcam.reset();
+	}
+
+	@After
+	public void tearDown() throws Exception {
+		tpcam.teardown();
+	}
+
+	/**
+	 * Test to see if the Servo and the gyroscope is turning 180 degrees
+	 */
+	@Test
+	public void testGyroAngle() {
+		for(double i = 0; i < 1.0; i+=.01){
+			//System.out.println("i: " + i);
+			tpcam.getPan().set(i);
+			Timer.delay(.05);
+		}
+		Timer.delay(TiltPanCameraFixture.RESET_TIME);
+		double angle = tpcam.getGyro().getAngle();
+		
+		double difference = TEST_ANGLE - angle;
+		
+		double diff = Math.abs(difference);
+		
+		
+		assertTrue("Gryo angle skewed " + difference + " deg away from target " + TEST_ANGLE, diff < 4.0);
+		
+		
+	}
+
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/TimerTest.java

@@ -1,3 +1,9 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2014. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
 package edu.wpi.first.wpilibj;
 
 import static org.junit.Assert.assertTrue;

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/DIOCrossConnectFixture.java

@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2014. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj.fixtures;
+
+public class DIOCrossConnectFixture implements ITestFixture {
+
+	@Override
+	public boolean setup() {
+		// TODO Auto-generated method stub
+		return false;
+	}
+
+	@Override
+	public boolean reset() {
+		// TODO Auto-generated method stub
+		return false;
+	}
+
+	@Override
+	public boolean teardown() {
+		// TODO Auto-generated method stub
+		return false;
+	}
+
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/ITestFixture.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008-2012. All Rights Reserved.                        */
+/* Copyright (c) FIRST 2008-2014. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/MotorEncoderFixture.java

@@ -0,0 +1,139 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2014. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj.fixtures;
+
+import edu.wpi.first.wpilibj.Counter;
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.PWM;
+import edu.wpi.first.wpilibj.SpeedController;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.test.TestBench;
+
+/**
+ * Represents a physically connected Motor and Encoder to allow for unit tests on these difrent pairs<br>
+ * Designed to allow the user to easily setup and tear down the fixture to allow for reuse.
+ * This class should be explicitly instantiated in the TestBed class to allow any test to access this fixture.
+ * This allows tests to be mailable so that you can easily reconfigure the physical testbed without breaking the tests.
+ * 
+ * @author Jonathan Leitschuh
+ *
+ */
+public class MotorEncoderFixture implements ITestFixture {
+	
+	private final SpeedController motor;
+	private final Encoder encoder;
+	private final Counter counters[] = new Counter[2];
+	private final DigitalInput aSource; //Stored so it can be freed at tear down
+	private final DigitalInput bSource;
+	
+	/**
+	 * Default constructor for a MotorEncoderFixture
+	 * @param motor The SpeedControler for this MotorEncoder pair
+	 * @param aSource One of the inputs for the encoder
+	 * @param bSource The other input for the encoder
+	 */
+	public MotorEncoderFixture(SpeedController motor, DigitalInput aSource, DigitalInput bSource){
+		this.aSource = aSource;
+		this.bSource = bSource;
+		
+		this.motor = motor;
+		
+		this.encoder = new Encoder(aSource, bSource);
+		counters[0] = new Counter(aSource);
+		counters[1] = new Counter(bSource);
+		for(Counter c: counters){
+			c.start();
+		}
+		encoder.start();
+	}
+	
+	@Override
+	public boolean setup() {
+		return reset();
+	}
+	
+	/**
+	 * Gets the motor for this Object
+	 * @return the motor this object refers too
+	 */
+	public SpeedController getMotor(){
+		return motor;
+	}
+	
+	/**
+	 * Gets the encoder for this object
+	 * @return the encoder that this object refers too
+	 */
+	public Encoder getEncoder(){
+		return encoder;
+	}
+	
+	public Counter[] getCounters(){
+		return counters;
+	}
+	
+	/**
+	 * Retrieves the name of the motor that this object refers to
+	 * @return The simple name of the motor {@link Class#getSimpleName()}
+	 */
+	public String getType(){
+		return motor.getClass().getSimpleName();
+	}
+	
+	/**
+	 * Checks to see if the speed of the motor is within some range of a given value.
+	 * This is used instead of equals() because doubles can have inaccuracies.
+	 * @param value The value to compare against
+	 * @param acuracy The accuracy range to check against to see if the
+	 * @return true if the range of values between motors speed ± accuracy contains the 'value'<br>
+	 * {@code Math.abs((Math.abs(motor.get()) - Math.abs(value))) < Math.abs(accuracy)}
+	 */
+	public boolean isMotorSpeedWithinRange(double value, double accuracy){
+		return Math.abs((Math.abs(motor.get()) - Math.abs(value))) < Math.abs(accuracy);
+	}
+	
+	@Override
+	public boolean reset(){
+		boolean wasReset = true;
+		
+		motor.set(0);
+		Timer.delay(TestBench.MOTOR_STOP_TIME); //DEFINED IN THE TestBench
+		encoder.reset();
+		for(Counter c : counters){
+			c.reset();
+		}
+		
+		wasReset &= motor.get() == 0;
+		wasReset &= encoder.get() == 0;
+		for(Counter c : counters){
+			wasReset &= c.get() == 0;
+		}
+		
+		return wasReset;
+	}
+
+	
+
+	@Override
+	public boolean teardown() {
+		reset();
+		if(motor instanceof PWM){
+			((PWM) motor).free();
+		}
+		encoder.free();
+		for(Counter c : counters){
+			c.free();
+		}
+		
+		aSource.free();
+		bSource.free();
+		
+		return true;
+	}
+
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/SampleFixture.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008-2012. All Rights Reserved.                        */
+/* Copyright (c) FIRST 2008-2014. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/TiltPanCameraFixture.java

@@ -0,0 +1,84 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2014. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj.fixtures;
+
+import edu.wpi.first.wpilibj.Gyro;
+import edu.wpi.first.wpilibj.Servo;
+import edu.wpi.first.wpilibj.Timer;
+
+/**
+ * A class to represent the a physical Camera with two servos (tilt and pan) designed to test to see if the
+ * gyroscope is operating normally.
+ * 
+ * @author Jonathan Leitschuh
+ *
+ */
+public class TiltPanCameraFixture implements ITestFixture {
+	
+	public static final double RESET_TIME = 3.0;
+	
+	private final Gyro gyro;
+	private final Servo tilt;
+	private final Servo pan;
+	
+	/**
+	 * Constructs the TiltPanCamera
+	 * @param tilt
+	 * 		The servo to tilt the camera
+	 * @param pan
+	 * 		The servo to pan the camera
+	 * @param gyro
+	 */
+	public TiltPanCameraFixture (Servo tilt, Servo pan, Gyro gyro){
+		this.tilt = tilt;
+		this.pan = pan;
+		this.gyro = gyro;
+		
+	}
+	
+	@Override
+	public boolean setup() {
+		return reset();
+	}
+	
+	@Override
+	public boolean reset(){
+		boolean wasReset = true;
+		pan.setAngle(0);
+		tilt.set(0);
+		Timer.delay(RESET_TIME);
+		gyro.reset();
+		
+		wasReset &= pan.get() == 0;
+		wasReset &= tilt.get() == 0;
+		wasReset &= gyro.getAngle() == 0;
+		return wasReset;
+	}
+	
+	public Servo getTilt() {
+		return tilt;
+	}
+	
+	public Servo getPan() {
+		return pan;
+	}
+	
+	public Gyro getGyro() {
+		return gyro;
+	}
+
+	@Override
+	public boolean teardown() {
+		reset();
+		
+		tilt.free();
+		pan.free();
+		gyro.free();
+		return true;
+	}
+	
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/groups/MotorEncoder.java

@@ -1,48 +0,0 @@
-package edu.wpi.first.wpilibj.groups;
-
-import edu.wpi.first.wpilibj.Counter;
-import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.DigitalSource;
-import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.SpeedController;
-import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.test.TestBench;
-
-public class MotorEncoder {
-	
-	private final SpeedController motor;
-	private final Encoder encoder;
-	private final Counter counters[] = new Counter[2];
-	
-	public MotorEncoder(SpeedController motor, DigitalInput aSource, DigitalInput bSource){
-		this.motor = motor;
-		this.encoder = new Encoder(aSource, bSource);
-		counters[0] = new Counter(aSource);
-		counters[1] = new Counter(bSource);
-		for(Counter c: counters){
-			c.start();
-		}
-	}
-	
-	public SpeedController getMotor(){
-		return motor;
-	}
-	
-	public Encoder getEncoder(){
-		return encoder;
-	}
-	
-	public Counter[] getCounters(){
-		return counters;
-	}
-	
-	public void reset(){
-		motor.set(0);
-		Timer.delay(TestBench.MOTOR_STOP_TIME);
-		encoder.reset();
-		for(Counter c : counters){
-			c.reset();
-		}
-	}
-
-}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mockhardware/FakeCounterSource.java

@@ -0,0 +1,147 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj.mockhardware;
+
+import edu.wpi.first.wpilibj.DigitalOutput;
+import edu.wpi.first.wpilibj.Timer;
+
+/**
+ * @file FakeCounterSource.java
+ * Simulates an encoder for testing purposes
+ * @author Ryan O'Meara
+ */
+public class FakeCounterSource
+{
+
+    private Thread m_task;
+    private int m_count;
+    private int m_mSec;
+    private DigitalOutput m_output;
+
+    /**
+     * Thread object that allows emulation of an encoder
+     */
+    private class EncoderThread extends Thread
+    {
+
+        FakeCounterSource m_encoder;
+
+        EncoderThread(FakeCounterSource encode)
+        {
+            m_encoder = encode;
+        }
+
+        public void run()
+        {
+            m_encoder.m_output.set(false);
+            try
+            {
+                for (int i = 0; i < m_encoder.m_count; i++)
+                {
+                    Thread.sleep(m_encoder.m_mSec);
+                    m_encoder.m_output.set(true);
+                    Thread.sleep(m_encoder.m_mSec);
+                    m_encoder.m_output.set(false);
+                }
+            } catch (InterruptedException e)
+            {
+            }
+        }
+    }
+
+    /**
+     * Create a fake encoder on a given port
+     * @param port The port the encoder is supposed to be on
+     */
+    public FakeCounterSource(int port)
+    {
+        m_output = new DigitalOutput(port);
+        initEncoder();
+    }
+
+    /**
+     * Create a new fake encoder on the indicated slot and port
+     * @param slot Slot to create on
+     * @param port THe port that the encoder is supposably on
+     */
+    public FakeCounterSource(int slot, int port)
+    {
+        m_output = new DigitalOutput(slot, port);
+        initEncoder();
+    }
+
+    /**
+     * Destroy Object with minimum memory leak
+     */
+    public void free()
+    {
+        m_task = null;
+        m_output.free();
+    }
+
+    /**
+     * Common initailization code
+     */
+    private void initEncoder()
+    {
+        m_mSec = 1;
+        m_task = new EncoderThread(this);
+        m_output.set(false);
+    }
+
+    /**
+     * Starts the thread execution task
+     */
+    public void start()
+    {
+        m_task.start();
+    }
+
+    /**
+     * Waits for the thread to complete
+     */
+    public void complete()
+    {
+        try
+        {
+            m_task.join();
+        } catch (InterruptedException e)
+        {
+        }
+        m_task = new EncoderThread(this);
+        Timer.delay(.5);
+    }
+
+    /**
+     * Starts and completes a task set - does not return until thred has finished
+     * its operations
+     */
+    public void execute()
+    {
+        start();
+        complete();
+    }
+
+    /**
+     * Sets the count to run encoder
+     * @param count The count to emulate to the controller
+     */
+    public void setCount(int count)
+    {
+        m_count = count;
+    }
+
+    /**
+     * Specify the rate to send pulses
+     * @param mSec The rate to send out pulses at
+     */
+    public void setRate(int mSec)
+    {
+        m_mSec = mSec;
+    }
+}
+

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractComsSetup.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008-2012. All Rights Reserved.                        */
+/* Copyright (c) FIRST 2008-2014. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008-2012. All Rights Reserved.                        */
+/* Copyright (c) FIRST 2008-2014. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -8,13 +8,14 @@ package edu.wpi.first.wpilibj.test;
 
 import edu.wpi.first.wpilibj.CANJaguar;
 import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.DigitalSource;
-import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.Gyro;
 import edu.wpi.first.wpilibj.Jaguar;
+import edu.wpi.first.wpilibj.Servo;
 import edu.wpi.first.wpilibj.Talon;
 import edu.wpi.first.wpilibj.Victor;
 import edu.wpi.first.wpilibj.can.CANTimeoutException;
-import edu.wpi.first.wpilibj.groups.MotorEncoder;
+import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
+import edu.wpi.first.wpilibj.fixtures.TiltPanCameraFixture;
 
 
 /**
@@ -29,60 +30,109 @@ import edu.wpi.first.wpilibj.groups.MotorEncoder;
 public final class TestBench {
 	
 	
-	public static final double MOTOR_STOP_TIME = 0.10;
+	/** The time that it takes to have a motor go from rotating at full speed to completely stopped */
+	public static final double MOTOR_STOP_TIME = 0.50;
 
-	public static TestBench instance;
+	/** The Singleton instance of the Test Bench */
+	private static TestBench instance = null;
 	
+	private CANJaguar canJag = null; //This is declared externally because it does not have a free method
 	
-	public Talon talon = new Talon(1);
-	public DigitalInput encA1 = new DigitalInput(1);
-	public DigitalInput encB1 = new DigitalInput(2);
+
 	
-	public MotorEncoder talonPair = new MotorEncoder(talon, encA1, encB1);
-	
-	public Victor vic = new Victor(2);
-	public DigitalInput encA2 = new DigitalInput(3);
-	public DigitalInput encB2 = new DigitalInput(4);
-	public MotorEncoder vicPair = new MotorEncoder(vic, encA2, encB2);
-	
-	private Jaguar jag = new Jaguar(3);
-	public DigitalInput encA3 = new DigitalInput(5);
-	public DigitalInput encB3 = new DigitalInput(6);
-	private MotorEncoder jagPair = new MotorEncoder(jag, encA3, encB3);
-	
-	//private CANJaguar canJag = null;
-	//private Encoder enc4 = new Encoder(7, 8);
-	//private MotorEncoder canPair;
-	
-	public TestBench(){
-//		try {
-//			canJag = new CANJaguar(1);
-//		} catch (CANTimeoutException e) {
-//			e.printStackTrace();
-//		}
-		//canPair = new MotorEncoder(canJag, enc4);
+	/**
+	 * The single constructor for the TestBench.
+	 * This method is private in order to prevent multiple TestBench objects from being allocated
+	 */
+	private TestBench(){		
 	}
 	
 	
-	public MotorEncoder getTalonPair(){
+	/**
+	 * Constructs a new set of objects representing a connected set of Talon controlled Motors and an encoder
+	 * 
+	 * @return a freshly allocated Talon, Encoder pair
+	 */
+	public MotorEncoderFixture getTalonPair(){
+		Talon talon = new Talon(1);
+		DigitalInput encA1 = new DigitalInput(1);
+		DigitalInput encB1 = new DigitalInput(2);
+		
+		MotorEncoderFixture talonPair = new MotorEncoderFixture(talon, encA1, encB1);
 		return talonPair;
 	}
 	
-	public MotorEncoder getVictorPair(){
+	/**
+	 * Constructs a new set of objects representing a connected set of Victor controlled Motors and an encoder
+	 * 
+	 * @return a freshly allocated Victor, Encoder pair
+	 */
+	public MotorEncoderFixture getVictorPair(){
+		Victor vic = new Victor(2);
+		DigitalInput encA2 = new DigitalInput(3);
+		DigitalInput encB2 = new DigitalInput(4);
+		MotorEncoderFixture vicPair = new MotorEncoderFixture(vic, encA2, encB2);
 		return vicPair;
 	}
 	
 	
-	public MotorEncoder getJaguarPair(){
+	/**
+	 * Constructs a new set of objects representing a connected set of Jaguar controlled Motors and an encoder
+	 * 
+	 * @return a freshly allocated Jaguar, Encoder pair
+	 */
+	public MotorEncoderFixture getJaguarPair(){
+		Jaguar jag = new Jaguar(3);
+		DigitalInput encA3 = new DigitalInput(5);
+		DigitalInput encB3 = new DigitalInput(6);
+		MotorEncoderFixture jagPair = new MotorEncoderFixture(jag, encA3, encB3);
 		return jagPair;
 	}
 	
-//	public MotorEncoder getCanJaguarPair(){
-//		return canPair;
-//	}
-	
+	/**
+	 * Constructs a new set of objects representing a connected set of CANJaguar controlled Motors and an encoder<br>
+	 * Note: The CANJaguar is not freshly allocated because the CANJaguar lacks a free() method
+	 * @return an existing CANJaguar and a freshly allocated Encoder
+	 */
+	public MotorEncoderFixture getCanJaguarPair(){
+		
+		DigitalInput encA4 = new DigitalInput(7);
+		DigitalInput encB4 = new DigitalInput(8);
+		MotorEncoderFixture canPair;
+		if(canJag == null){		//Again this is because the CanJaguar does not have a free method
+			try {
+				canJag = new CANJaguar(1);
+			} catch (CANTimeoutException e) {
+				e.printStackTrace();
+			}
+		}
+		canPair = new MotorEncoderFixture(canJag, encA4, encB4);
+		assert canPair != null;
+		return canPair;
+	}
+	
+	/**
+	 * Constructs a new set of two Servo's and a Gyroscope.
+	 * @return a freshly allocated Servo's and a freshly allocated Gyroscope
+	 */
+	public TiltPanCameraFixture getTiltPanCam(){
+		Gyro gyro = new Gyro(1);
+		gyro.setSensitivity(.007); //If a different gyroscope is used this value will be different
+		
+		Servo tilt = new Servo(10);
+		Servo pan = new Servo(9);
+		
+		TiltPanCameraFixture tpcam = new TiltPanCameraFixture(tilt, pan, gyro);
+		
+		return tpcam;
+	}
 	
 	
+	/**
+	 * Gets the singleton of the TestBench. If the TestBench is not already allocated in constructs an new instance of it.
+	 * Otherwise it returns the existing instance.
+	 * @return The Singleton instance of the TestBench
+	 */
 	public static TestBench getInstance() {
 		if (instance == null) {
 			instance = new TestBench();

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestSuite.java

@@ -1,3 +1,9 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2014. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
 package edu.wpi.first.wpilibj.test;
 
 import org.junit.runner.JUnitCore;
@@ -5,9 +11,9 @@ import org.junit.runner.RunWith;
 import org.junit.runners.Suite;
 import org.junit.runners.Suite.SuiteClasses;
 
-
 import edu.wpi.first.wpilibj.MotorEncoderTest;
 import edu.wpi.first.wpilibj.SampleTest;
+import edu.wpi.first.wpilibj.TiltPanCameraTest;
 import edu.wpi.first.wpilibj.TimerTest;
 
 /**
@@ -17,7 +23,7 @@ import edu.wpi.first.wpilibj.TimerTest;
  * suite classes annotation.
  */
 @RunWith(Suite.class)
-@SuiteClasses({ SampleTest.class, MotorEncoderTest.class, TimerTest.class })
+@SuiteClasses({ SampleTest.class, TiltPanCameraTest.class, MotorEncoderTest.class, TimerTest.class })
 public class TestSuite {
 
 	public static void main(String[] args) {