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Merge "Artf4776 Fixes First DIO PWM usage errors"

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This commit is contained in:
Peter Johnson (294)
2015-12-29 08:23:56 -08:00
committed by Gerrit Code Review
parent 3d2b54a1c0 dbba4a1036
commit 416a238bed
3 changed files with 110 additions and 5 deletions
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55
wpilibcIntegrationTests/src/DIOLoopTest.cpp
View File

@@ -8,6 +8,7 @@
#include <Counter.h>
#include <DigitalInput.h>
#include <DigitalOutput.h>
#include <InterruptableSensorBase.h>
#include <Timer.h>
#include "gtest/gtest.h"
#include "TestBench.h"
@@ -58,6 +59,60 @@ TEST_F(DIOLoopTest, Loop) {
EXPECT_TRUE(m_input->Get()) << "The digital output was turned on, but "
<< "the digital input is off.";
}
/**
* Tests to see if the DIO PWM functionality works.
*/
TEST_F(DIOLoopTest, DIOPWM) {
Reset();
m_output->Set(false);
Wait(kDelayTime);
EXPECT_FALSE(m_input->Get()) << "The digital output was turned off, but "
<< "the digital input is on.";
//Set frequency to 2.0 Hz
m_output->SetPWMRate(2.0);
//Enable PWM, but leave it off
m_output->EnablePWM(0.0);
Wait(0.5);
m_output->UpdateDutyCycle(0.5);
m_input->RequestInterrupts();
m_input->SetUpSourceEdge(false, true);
InterruptableSensorBase::WaitResult result = m_input->WaitForInterrupt(3.0, true);
Wait(0.5);
bool firstCycle = m_input->Get();
Wait(0.5);
bool secondCycle = m_input->Get();
Wait(0.5);
bool thirdCycle = m_input->Get();
Wait(0.5);
bool forthCycle = m_input->Get();
Wait(0.5);
bool fifthCycle = m_input->Get();
Wait(0.5);
bool sixthCycle = m_input->Get();
Wait(0.5);
bool seventhCycle = m_input->Get();
m_output->DisablePWM();
Wait(0.5);
bool firstAfterStop = m_input->Get();
Wait(0.5);
bool secondAfterStop = m_input->Get();
EXPECT_EQ(InterruptableSensorBase::WaitResult::kFallingEdge, result)
<< "WaitForInterrupt was not falling.";
EXPECT_FALSE(firstCycle) << "Input not low after first delay";
EXPECT_TRUE(secondCycle) << "Input not high after second delay";
EXPECT_FALSE(thirdCycle) << "Input not low after third delay";
EXPECT_TRUE(forthCycle) << "Input not high after forth delay";
EXPECT_FALSE(fifthCycle) << "Input not low after fifth delay";
EXPECT_TRUE(sixthCycle) << "Input not high after sixth delay";
EXPECT_FALSE(seventhCycle) << "Input not low after seventh delay";
EXPECT_FALSE(firstAfterStop) << "Input not low after stopping first read";
EXPECT_FALSE(secondAfterStop) << "Input not low after stopping second read";
}
/**
* Test a fake "counter" that uses the DIO loop as an input to make sure the

12
wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalOutput.java
View File

@@ -22,7 +22,9 @@ import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tReso
*/
public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
private long m_pwmGenerator;
private static final long invalidPwmGenerator = 0xffffffff;
private long m_pwmGenerator = invalidPwmGenerator;
/**
* Create an instance of a digital output. Create an instance of a digital
@@ -43,7 +45,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
@Override
public void free() {
// disable the pwm only if we have allocated it
if (m_pwmGenerator != 0) {
if (m_pwmGenerator != invalidPwmGenerator) {
disablePWM();
}
super.free();
@@ -131,7 +133,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
* @param initialDutyCycle The duty-cycle to start generating. [0..1]
*/
public void enablePWM(double initialDutyCycle) {
if (m_pwmGenerator != 0)
if (m_pwmGenerator != invalidPwmGenerator)
return;
m_pwmGenerator = PWMJNI.allocatePWM();
PWMJNI.setPWMDutyCycle(m_pwmGenerator, initialDutyCycle);
@@ -144,7 +146,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
* Free up one of the 6 DO PWM generator resources that were in use.
*/
public void disablePWM() {
if (m_pwmGenerator == 0)
if (m_pwmGenerator == invalidPwmGenerator)
return;
// Disable the output by routing to a dead bit.
PWMJNI.setPWMOutputChannel(m_pwmGenerator, kDigitalChannels);
@@ -161,7 +163,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
* @param dutyCycle The duty-cycle to change to. [0..1]
*/
public void updateDutyCycle(double dutyCycle) {
if (m_pwmGenerator == 0)
if (m_pwmGenerator == invalidPwmGenerator)
return;
PWMJNI.setPWMDutyCycle(m_pwmGenerator, dutyCycle);
}

48
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DIOCrossConnectTest.java
View File

@@ -107,6 +107,54 @@ public class DIOCrossConnectTest extends AbstractInterruptTest {
assertFalse("DIO Not Low after .05s delay", dio.getInput().get());
}
/**
* Tests to see if the DIO PWM functionality works.
*/
@Test
public void testDIOPWM() {
dio.getOutput().set(false);
assertFalse("DIO Not Low after no delay", dio.getInput().get());
//Set frequency to 2.0 Hz
dio.getOutput().setPWMRate(2.0);
//Enable PWM, but leave it off.
dio.getOutput().enablePWM(0.0);
Timer.delay(0.5);
dio.getOutput().updateDutyCycle(0.5);
dio.getInput().requestInterrupts();
dio.getInput().setUpSourceEdge(false, true);
//TODO: Add return value from WaitForInterrupt
dio.getInput().waitForInterrupt(3.0, true);
Timer.delay(0.5);
boolean firstCycle = dio.getInput().get();
Timer.delay(0.5);
boolean secondCycle = dio.getInput().get();
Timer.delay(0.5);
boolean thirdCycle = dio.getInput().get();
Timer.delay(0.5);
boolean forthCycle = dio.getInput().get();
Timer.delay(0.5);
boolean fifthCycle = dio.getInput().get();
Timer.delay(0.5);
boolean sixthCycle = dio.getInput().get();
Timer.delay(0.5);
boolean seventhCycle = dio.getInput().get();
dio.getOutput().disablePWM();
Timer.delay(0.5);
boolean firstAfterStop = dio.getInput().get();
Timer.delay(0.5);
boolean secondAfterStop = dio.getInput().get();
assertFalse("DIO Not Low after first delay", firstCycle);
assertTrue("DIO Not High after second delay", secondCycle);
assertFalse("DIO Not Low after third delay", thirdCycle);
assertTrue("DIO Not High after forth delay", forthCycle);
assertFalse("DIO Not Low after fifth delay", fifthCycle);
assertTrue("DIO Not High after sixth delay", sixthCycle);
assertFalse("DIO Not Low after seventh delay", seventhCycle);
assertFalse("DIO Not Low after stopping first read", firstAfterStop);
assertFalse("DIO Not Low after stopping second read", secondAfterStop);
}
/*
* (non-Javadoc)
*$