Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-22 01:11:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Gyro: Add support for fixed calibration (artf4124).

Browse Source 
Testing added for Gyro constructors, getters, and setters.

Change-Id: Id3ba2656bfdb286e01fbd95dff95115a3446c92e
This commit is contained in:
Joseph
2015-07-28 11:57:22 -04:00
committed by Peter Johnson
parent 6d00b77ef3
commit 375a19563e
8 changed files with 304 additions and 54 deletions
Download Patch File Download Diff File Expand all files Collapse all files

58
wpilibcIntegrationTests/src/TiltPanCameraTest.cpp
View File

@@ -21,6 +21,7 @@ static constexpr double kTiltSetpoint45 = 0.45;
static constexpr double kTiltSetpoint90 = 0.68;
static constexpr double kTiltTime = 1.0;
static constexpr double kAccelerometerTolerance = 0.2;
static constexpr double kSensitivity = 0.013;
/**
* A fixture for the camera with two servos and a gyro
@@ -36,7 +37,7 @@ class TiltPanCameraTest : public testing::Test {
// The gyro object blocks for 5 seconds in the constructor, so only
// construct it once for the whole test case
m_gyro = new AnalogGyro(TestBench::kCameraGyroChannel);
m_gyro->SetSensitivity(0.013);
m_gyro->SetSensitivity(kSensitivity);
}
static void TearDownTestCase() { delete m_gyro; }
@@ -54,6 +55,10 @@ class TiltPanCameraTest : public testing::Test {
m_gyro->Reset();
}
void DefaultGyroAngle();
void GyroAngle();
void GyroCalibratedParameters();
virtual void TearDown() override {
delete m_tilt;
delete m_pan;
@@ -66,7 +71,7 @@ AnalogGyro *TiltPanCameraTest::m_gyro = nullptr;
/**
* Test if the gyro angle defaults to 0 immediately after being reset.
*/
TEST_F(TiltPanCameraTest, DefaultGyroAngle) {
void TiltPanCameraTest::DefaultGyroAngle() {
EXPECT_NEAR(0.0f, m_gyro->GetAngle(), 1.0f);
}
@@ -76,10 +81,10 @@ TEST_F(TiltPanCameraTest, DefaultGyroAngle) {
* was designed for so setAngle is significantly off. This has been calibrated
* for the servo on the rig.
*/
TEST_F(TiltPanCameraTest, GyroAngle) {
void TiltPanCameraTest::GyroAngle() {
// Make sure that the gyro doesn't get jerked when the servo goes to zero.
m_pan->SetAngle(0.0);
Wait(0.25);
Wait(0.5);
m_gyro->Reset();
for (int i = 0; i < 600; i++) {
@@ -94,6 +99,51 @@ TEST_F(TiltPanCameraTest, GyroAngle) {
<< kTestAngle << " degrees";
}
/**
* Gets calibrated parameters from previously calibrated gyro, allocates a new
* gyro with the given parameters for center and offset, and re-runs tests on
* the new gyro.
*/
void TiltPanCameraTest::GyroCalibratedParameters() {
uint32_t cCenter = m_gyro->GetCenter();
float cOffset = m_gyro->GetOffset();
delete m_gyro;
m_gyro = new AnalogGyro(TestBench::kCameraGyroChannel, cCenter, cOffset);
m_gyro->SetSensitivity(kSensitivity);
// Default gyro angle test
// Accumulator needs a small amount of time to reset before being tested
m_gyro->Reset();
Wait(.001);
EXPECT_NEAR(0.0f, m_gyro->GetAngle(), 1.0f);
// Gyro angle test
// Make sure that the gyro doesn't get jerked when the servo goes to zero.
m_pan->SetAngle(0.0);
Wait(0.5);
m_gyro->Reset();
for (int i = 0; i < 600; i++) {
m_pan->Set(i / 1000.0);
Wait(0.001);
}
double gyroAngle = m_gyro->GetAngle();
EXPECT_NEAR(gyroAngle, kTestAngle, 10.0)
<< "Gyro measured " << gyroAngle << " degrees, servo should have turned "
<< kTestAngle << " degrees";
}
/**
* Run all gyro tests in one function to make sure they are run in order.
*/
TEST_F(TiltPanCameraTest, TestAllGyroTests) {
DefaultGyroAngle();
GyroAngle();
GyroCalibratedParameters();
}
/**
* Test if the accelerometer measures gravity along the correct axes when the
* camera rotates