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Fixed the gyro deviation over time test

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Also modified the testgyroCalibratedParameters to reduce code duplication.

Change-Id: I356562df4e9da1848d84e82ee82c5fbfc47d7d31
This commit is contained in:
Patrick
2016-02-02 13:38:51 -05:00
parent ae1171d1be
commit 4a6f55b61d
1 changed files with 16 additions and 39 deletions
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55
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/GyroTest.java
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@@ -46,14 +46,14 @@ public class GyroTest extends AbstractComsSetup {
@Test
public void testAllGyroTests() {
testInitial();
testGyroAngle();
testDeviationOverTime();
testInitial(tpcam.getGyro());
testDeviationOverTime(tpcam.getGyro());
testGyroAngle(tpcam.getGyro());
testGyroAngleCalibratedParameters();
}
public void testInitial() {
double angle = tpcam.getGyro().getAngle();
public void testInitial(AnalogGyro gyro) {
double angle = gyro.getAngle();
assertEquals(errorMessage(angle, 0), 0, angle, .5);
}
@@ -63,7 +63,7 @@ public class GyroTest extends AbstractComsSetup {
* for so setAngle is significantly off. This has been calibrated for the
* servo on the rig.
*/
public void testGyroAngle() {
public void testGyroAngle(AnalogGyro gyro) {
// Set angle
for (int i = 0; i < 5; i++) {
tpcam.getPan().set(0);
@@ -72,7 +72,7 @@ public class GyroTest extends AbstractComsSetup {
Timer.delay(0.5);
// Reset for setup
tpcam.getGyro().reset();
gyro.reset();
Timer.delay(0.5);
// Perform test
@@ -82,7 +82,7 @@ public class GyroTest extends AbstractComsSetup {
}
Timer.delay(1.2);
double angle = tpcam.getGyro().getAngle();
double angle = gyro.getAngle();
double difference = TEST_ANGLE - angle;
@@ -91,15 +91,15 @@ public class GyroTest extends AbstractComsSetup {
assertEquals(errorMessage(diff, TEST_ANGLE), TEST_ANGLE, angle, 10);
}
public void testDeviationOverTime() {
public void testDeviationOverTime(AnalogGyro gyro) {
// Make sure that the test isn't influenced by any previous motions.
Timer.delay(0.5);
tpcam.getGyro().reset();
gyro.reset();
Timer.delay(0.25);
double angle = tpcam.getGyro().getAngle();
double angle = gyro.getAngle();
assertEquals(errorMessage(angle, 0), 0, angle, .5);
Timer.delay(5);
angle = tpcam.getGyro().getAngle();
angle = gyro.getAngle();
assertEquals("After 5 seconds " + errorMessage(angle, 0), 0, angle, 1);
}
@@ -113,34 +113,11 @@ public class GyroTest extends AbstractComsSetup {
int cCenter = tpcam.getGyro().getCenter();
tpcam.freeGyro();
tpcam.setupGyroParam(cCenter, cOffset);
Timer.delay(TiltPanCameraFixture.RESET_TIME);
// Repeat tests
// Set angle
for (int i = 0; i < 5; i++) {
tpcam.getPan().set(0);
Timer.delay(.1);
}
Timer.delay(0.5);
// Reset for setup
tpcam.getGyroParam().reset();
Timer.delay(0.5);
// Perform test
for (int i = 0; i < 53; i++) {
tpcam.getPan().set(i / 100.0);
Timer.delay(0.05);
}
Timer.delay(1.2);
double angle = tpcam.getGyroParam().getAngle();
double difference = TEST_ANGLE - angle;
double diff = Math.abs(difference);
assertEquals(errorMessage(diff, TEST_ANGLE), TEST_ANGLE, angle, 10);
testInitial(tpcam.getGyroParam());
testDeviationOverTime(tpcam.getGyroParam());
testGyroAngle(tpcam.getGyroParam());
}
private String errorMessage(double difference, double target) {