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Added PDP tests for java and C++, updated TestBench.h

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Change-Id: Idd6be8739065d757f5d1471ebb685d48a1c53e59
This commit is contained in:
Kacper Puczydlowski
2014-06-19 14:56:06 -04:00
parent e69c1ea198
commit 2cc2e6a9e3
8 changed files with 264 additions and 6 deletions
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100
wpilibc/wpilibC++IntegrationTests/src/PowerDistributionPanelTest.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#include "WPILib.h"
#include "gtest/gtest.h"
#include "TestBench.h"
/* The current returned when the motor is not being driven */
static const double kLowCurrent = 1.52;
static const double kCurrentTolerance = 0.1;
class PowerDistributionPanelTest : public testing::Test {
protected:
PowerDistributionPanel *m_pdp;
Talon *m_talon;
Victor *m_victor;
Jaguar *m_jaguar;
virtual void SetUp() {
m_pdp = new PowerDistributionPanel();
m_talon = new Talon(TestBench::kTalonChannel);
m_victor = new Victor(TestBench::kVictorChannel);
m_jaguar = new Jaguar(TestBench::kJaguarChannel);
}
virtual void TearDown() {
delete m_pdp;
delete m_talon;
delete m_victor;
delete m_jaguar;
}
void Reset() {
/* Reset all speed controllers to 0.0 */
m_talon->Set(0.0f);
m_victor->Set(0.0f);
m_jaguar->Set(0.0f);
}
};
/**
* Test if the current changes when the motor is driven using a talon
*/
TEST_F(PowerDistributionPanelTest, CheckCurrentTalon) {
Reset();
/* The Current should be kLowCurrent */
EXPECT_NEAR(kLowCurrent, m_pdp->GetCurrent(TestBench::kTalonPDPChannel), kCurrentTolerance)
<< "The low current was not within the expected range.";
/* Set the motor to full forward */
m_talon->Set(1.0);
Wait(0.02);
/* The current should now be greater than the low current */
ASSERT_GT(m_pdp->GetCurrent(TestBench::kTalonPDPChannel), kLowCurrent)
<< "The driven current is not greater than the resting current.";
}
/**
* Test if the current changes when the motor is driven using a victor
*/
TEST_F(PowerDistributionPanelTest,CheckCurrentVictor) {
Reset();
/* The Current should be kLowCurrent */
EXPECT_NEAR(kLowCurrent, m_pdp->GetCurrent(TestBench::kVictorPDPChannel), kCurrentTolerance)
<< "The low current was not within the expected range.";
/* Set the motor to full forward */
m_victor->Set(1.0);
Wait(0.02);
/* The current should now be greater than the low current */
ASSERT_GT(m_pdp->GetCurrent(TestBench::kVictorPDPChannel), kLowCurrent)
<< "The driven current is not greater than the resting current.";
}
/**
* Test if the current changes when the motor is driven using a jaguar
*/
TEST_F(PowerDistributionPanelTest, CheckCurrentJaguar) {
Reset();
/* The Current should be kLowCurrent */
EXPECT_NEAR(kLowCurrent, m_pdp->GetCurrent(TestBench::kJaguarPDPChannel), kCurrentTolerance)
<< "The low current was not within the expected range.";
/* Set the motor to full forward */
m_jaguar->Set(1.0);
Wait(0.02);
/* The current should now be greater than the low current */
ASSERT_GT(m_pdp->GetCurrent(TestBench::kJaguarPDPChannel), kLowCurrent)
<< "The driven current is not greater than the resting current.";
}