Fixes the TiltPanCamera test (now GyroTest)

Change-Id: I3e954e60162ce84372a2dea39803437589aaaf00

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

@@ -6,56 +6,43 @@
 /*----------------------------------------------------------------------------*/
 package edu.wpi.first.wpilibj;
 
-import static org.junit.Assert.*;
+import static org.junit.Assert.assertEquals;
 
 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.fixtures.TiltPanCameraFixture;
 import edu.wpi.first.wpilibj.test.AbstractComsSetup;
 import edu.wpi.first.wpilibj.test.TestBench;
 
-public class TiltPanCameraTest extends AbstractComsSetup {
+public class GyroTest extends AbstractComsSetup {
 	
-	private static final Logger logger = Logger.getLogger(TiltPanCameraTest.class.getName());
+	private static final Logger logger = Logger.getLogger(GyroTest.class.getName());
 	
-	public static final double TEST_ANGLE = 185.0;
+	public static final double TEST_ANGLE = 180.0;
 	
-	private static TiltPanCameraFixture tpcam;
+	private TiltPanCameraFixture tpcam;
 
 	
+	@Override
 	protected Logger getClassLogger(){
 		return logger;
 	}
 	
-	@BeforeClass
-	public static void setUpBeforeClass() throws Exception {
-		logger.fine("Setup: TiltPan camera");
-		tpcam = TestBench.getInstance().getTiltPanCam();
-		
-	}
-
-	@AfterClass
-	public static void tearDownAfterClass() throws Exception {
-		tpcam.teardown();
-	}
-
 	@Before
 	public void setUp() throws Exception {
-		boolean setupSucsess = tpcam.setup();
-		assertTrue(tpcam.getSetupError(), setupSucsess);
-		double resetTime = tpcam.getLastResetTimeGyro();
-		assertEquals("The Gyroscoe reset time was " + resetTime + " seconds", 0, resetTime, .03);
+		logger.fine("Setup: TiltPan camera");
+		tpcam = TestBench.getInstance().getTiltPanCam();
+		tpcam.setup();
 	}
 
 	@After
 	public void tearDown() throws Exception {
 		tpcam.reset();
+		tpcam.teardown();
 	}
 	
 	@Test
@@ -69,11 +56,11 @@ public class TiltPanCameraTest extends AbstractComsSetup {
 	 */
 	@Test
 	public void testGyroAngle() {
-		for(double i = 0; i < 1.0; i+=.01){
+		for(double i = 0; i < 1.0; i+=.005){
 			//System.out.println("i: " + i);
 			//System.out.println("Angle " + tpcam.getGyro().getAngle());
 			tpcam.getPan().set(i);
-			Timer.delay(.05);
+			Timer.delay(.025);
 		}
 		//Timer.delay(TiltPanCameraFixture.RESET_TIME);
 		double angle = tpcam.getGyro().getAngle();
@@ -82,7 +69,6 @@ public class TiltPanCameraTest extends AbstractComsSetup {
 		
 		double diff = Math.abs(difference);
 		
-		
 		assertEquals(errorMessage(diff, TEST_ANGLE), TEST_ANGLE, angle, 8);
 	}
 	
@@ -92,7 +78,7 @@ public class TiltPanCameraTest extends AbstractComsSetup {
 		assertEquals(errorMessage(angle, 0), 0, angle, .5);
 		Timer.delay(5);
 		angle = tpcam.getGyro().getAngle();
-		assertEquals(errorMessage(angle, 0), 0, angle, .5);
+		assertEquals("After 5 seconds " + errorMessage(angle, 0), 0, angle, 1);
 	}
 	
 	private String errorMessage(double difference, double target){

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

@@ -32,7 +32,7 @@ import edu.wpi.first.wpilibj.test.AbstractTestSuite;
 				PrefrencesTest.class,
 				RelayCrossConnectTest.class,
 				SampleTest.class,
-				TiltPanCameraTest.class,
+				GyroTest.class,
 				TimerTest.class
 				})
 public class WpiLibJTestSuite extends AbstractTestSuite {

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

@@ -6,6 +6,8 @@
 /*----------------------------------------------------------------------------*/
 package edu.wpi.first.wpilibj.fixtures;
 
+import java.util.logging.Logger;
+
 import edu.wpi.first.wpilibj.Gyro;
 import edu.wpi.first.wpilibj.Servo;
 import edu.wpi.first.wpilibj.Timer;
@@ -17,92 +19,69 @@ import edu.wpi.first.wpilibj.Timer;
  * @author Jonathan Leitschuh
  *
  */
-public class TiltPanCameraFixture implements ITestFixture {
-	
-	public static final double RESET_TIME = 3.5;
-	
-	private final Gyro gyro;
-	private final Servo tilt;
-	private final Servo pan;
-	
-	private double lastResetTimeGyro = 0;
-	
+public abstract class TiltPanCameraFixture implements ITestFixture {
+	public static final Logger logger = Logger.getLogger(TiltPanCameraFixture.class.getName());
+
+	public static final double RESET_TIME = 2.0;
+	private Gyro gyro;
+	private Servo tilt;
+	private Servo pan;
+	private boolean initialized = false;
+
+
+	protected abstract Gyro giveGyro();
+	protected abstract Servo giveTilt();
+	protected abstract Servo givePan();
+
 	/**
 	 * 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;
-	}
-	
+	public TiltPanCameraFixture (){}
+
 	@Override
 	public boolean setup() {
-		boolean wasSetup = true;
-		pan.set(0.0);
-		tilt.set(0.0);
-		Timer.delay(RESET_TIME);
-		gyro.reset();
-		double startTime = Timer.getFPGATimestamp();
-		for(int i = 0; i < 100 && Math.abs(gyro.getAngle()) > 0.1; i++){
-			Timer.delay(.0001);
+		boolean wasSetup = false;
+		if(!initialized){
+			initialized = true;
+			tilt = giveTilt();
+			tilt.set(0);
+			pan = givePan();
+			pan.set(0);
+			Timer.delay(RESET_TIME);
+			
+			logger.fine("Initializing the gyro");
+			gyro = giveGyro();
+			wasSetup = true;
 		}
-		double endTime = Timer.getFPGATimestamp();
-		lastResetTimeGyro = endTime - startTime;
-		//System.out.println("Gyro reset in " + lastResetTimeGyro + " seconds");
-		
-		wasSetup = wasSetup && Math.abs(pan.get()) < 0.01;
-		wasSetup = wasSetup && Math.abs(tilt.get()) < 0.01;
-		wasSetup = wasSetup && Math.abs(gyro.getAngle()) < .2;
 		return wasSetup;
 	}
-	
-	/**
-	 * When resetting the gyroscope the reset time is stored as a variable that can be retrieved with this method
-	 * @return The last time that it took to reset the gyroscope
-	 */
-	public double getLastResetTimeGyro() {
-		return lastResetTimeGyro;
-	}
-	
-	public String getSetupError(){
-		StringBuilder error = new StringBuilder("SETUP ERROR: ");
-		if(Math.abs(pan.get()) >= 0.01) error.append("Pan " + pan.get() + ", ");
-		if(Math.abs(tilt.get()) >= 0.01) error.append("Tilt " + tilt.get() + ", ");
-		if(Math.abs(gyro.getAngle()) >= 0.2) error.append("Gyro " + gyro.getAngle() + ", ");
-		error.delete(error.length()-2, error.length());
-		return error.toString();
-	}
-	
+
 	@Override
 	public boolean reset(){
 		gyro.reset();
 		return true;
 	}
-	
+
 	public Servo getTilt() {
 		return tilt;
 	}
-	
+
 	public Servo getPan() {
 		return pan;
 	}
-	
+
 	public Gyro getGyro() {
 		return gyro;
 	}
 
 	@Override
 	public boolean teardown() {
-		setup();
 		tilt.free();
+		tilt = null;
 		pan.free();
+		pan = null;
 		gyro.free();
+		gyro = null;
 		return true;
 	}
 	

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

@@ -22,7 +22,6 @@ import edu.wpi.first.wpilibj.Jaguar;
 import edu.wpi.first.wpilibj.Relay;
 import edu.wpi.first.wpilibj.Servo;
 import edu.wpi.first.wpilibj.Talon;
-import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.Victor;
 import edu.wpi.first.wpilibj.fixtures.AnalogCrossConnectFixture;
 import edu.wpi.first.wpilibj.fixtures.CANMotorEncoderFixture;
@@ -53,6 +52,12 @@ public final class TestBench {
 	public static final int kVictorChannel = 1;
 	public static final int kJaguarChannel = 2;
 	
+	/*TiltPanCamera Channels */
+	public static final int kGyroChannel = 0;
+	public static final double kGyroSensitivity = 0.0134897058674;
+	public static final int kTiltServoChannel = 9;
+	public static final int kPanServoChannel = 8;
+	
 
 	/* PowerDistributionPanel channels */
 	public static final int kJaguarPDPChannel = 6;
@@ -231,15 +236,24 @@ public final class TestBench {
 	 * @return a freshly allocated Servo's and a freshly allocated Gyroscope
 	 */
 	public TiltPanCameraFixture getTiltPanCam() {
-		Gyro gyro = new Gyro(0);
-		gyro.setSensitivity(.007); // If a different gyroscope is used this
-									// value will be different
-		Timer.delay(1);
+		TiltPanCameraFixture tpcam = new TiltPanCameraFixture(){
+			@Override
+			protected Gyro giveGyro() {
+				Gyro gyro = new Gyro(kGyroChannel);
+				gyro.setSensitivity(kGyroSensitivity);
+				return gyro;
+			}
 
-		Servo tilt = new Servo(9);
-		Servo pan = new Servo(8);
+			@Override
+			protected Servo giveTilt() {
+				return new Servo(kTiltServoChannel);
+			}
 
-		TiltPanCameraFixture tpcam = new TiltPanCameraFixture(tilt, pan, gyro);
+			@Override
+			protected Servo givePan() {
+				return new Servo(kPanServoChannel);
+			}
+		};
 
 		return tpcam;
 	}