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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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147
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java Normal file
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@@ -0,0 +1,147 @@
package edu.wpi.first.wpilibj;
import static org.junit.Assert.*;
import static org.hamcrest.Matchers.*;
import java.util.logging.Logger;
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.can.CANTimeoutException;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.test.TestBench;
public class PDPTest extends AbstractComsSetup {
private static final Logger logger = Logger.getLogger(PCMTest.class.getName());
/* The current returned when the motor is not being driven */
protected static final double kLowCurrent = 1.52;
protected static final double kCurrentTolerance = 0.1;
private static PowerDistributionPanel pdp;
private static Talon talon;
private static Victor victor;
private static Jaguar jaguar;
@BeforeClass
public static void setUpBeforeClass() throws Exception {
pdp = new PowerDistributionPanel();
talon = new Talon(TestBench.kTalonPDPChannel);
victor = new Victor(TestBench.kVictorPDPChannel);
jaguar = new Jaguar(TestBench.kJaguarPDPChannel);
}
@AfterClass
public static void tearDownAfterClass() throws Exception {
pdp.free();
talon.free();
victor.free();
jaguar.free();
}
@Before
public void setUp() throws Exception {
/* Reset all speed controllers to 0.0 */
talon.set(0.0);
victor.set(0.0);
jaguar.set(0.0);
}
@After
public void tearDown() throws Exception {
}
/**
* Test if the current changes when the motor is driven using a talon
*/
@Test
public void CheckCurrentTalon() {
/* The Current should be kLowCurrent */
try {
assertEquals("The low current was not within the expected range.",
kLowCurrent, pdp.getCurrent(TestBench.kTalonPDPChannel), kCurrentTolerance);
} catch (CANTimeoutException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
Timer.delay(0.02);
/* Set the motor to full forward */
talon.set(1.0);
Timer.delay(0.02);
/* The current should now be greater than the low current */
try {
assertThat("The driven current is not greater than the resting current.",
pdp.getCurrent(TestBench.kTalonPDPChannel), is(greaterThan(kLowCurrent)));
} catch (CANTimeoutException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
/**
* Test if the current changes when the motor is driven using a victor
*/
@Test
public void CheckCurrentVictor() {
/* The Current should be kLowCurrent */
try {
assertEquals("The low current was not within the expected range.",
kLowCurrent, pdp.getCurrent(TestBench.kVictorPDPChannel), kCurrentTolerance);
} catch (CANTimeoutException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
Timer.delay(0.02);
/* Set the motor to full forward */
victor.set(1.0);
Timer.delay(0.02);
/* The current should now be greater than the low current */
try {
assertThat("The driven current is not greater than the resting current.",
pdp.getCurrent(TestBench.kVictorPDPChannel), is(greaterThan(kLowCurrent)));
} catch (CANTimeoutException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
/**
* Test if the current changes when the motor is driven using a jaguar
*/
@Test
public void CheckCurrentJaguar() {
/* The Current should be kLowCurrent */
try {
assertEquals("The low current was not within the expected range.",
kLowCurrent, pdp.getCurrent(TestBench.kJaguarPDPChannel), kCurrentTolerance);
} catch (CANTimeoutException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
Timer.delay(0.02);
/* Set the motor to full forward */
jaguar.set(1.0);
Timer.delay(0.02);
/* The current should now be greater than the low current */
try {
assertThat("The driven current is not greater than the resting current.",
pdp.getCurrent(TestBench.kJaguarPDPChannel), is(greaterThan(kLowCurrent)));
} catch (CANTimeoutException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
@Override
protected Logger getClassLogger() {
return logger;
}
}

3
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/WpiLibJTestSuite.java
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@@ -28,7 +28,8 @@ import org.junit.runners.Suite.SuiteClasses;
RelayCrossConnectTest.class,
SampleTest.class,
TiltPanCameraTest.class,
TimerTest.class
TimerTest.class,
PDPTest.class
})
public class WpiLibJTestSuite {

12
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java
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@@ -47,13 +47,17 @@ public final class TestBench {
* completely stopped
*/
public static final double MOTOR_STOP_TIME = 0.20;
/* PowerDistributionPanel channels */
public static final int kJaguarPDPChannel = 7;
public static final int kVictorPDPChannel = 11;
public static final int kTalonPDPChannel = 12;
//THESE MUST BE IN INCREMENTING ORDER
public static final int DIOCrossConnectA1 = 6;
public static final int DIOCrossConnectA2 = 7;
public static final int DIOCrossConnectB1 = 8;
public static final int DIOCrossConnectB2 = 9;
public static final int DIOCrossConnectB1 = 8;
public static final int DIOCrossConnectA2 = 7;
public static final int DIOCrossConnectA1 = 6;
/** The Singleton instance of the Test Bench */
private static TestBench instance = null;