Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

The camera fixture tests now include an SPI accelerometer test

Browse Source 
Change-Id: I5dae746541d1d0e29f7d7c140a8fed8418502f45
This commit is contained in:
thomasclark
2014-07-17 15:43:25 -04:00
parent d0fdb3e704
commit 54a657a7d4
1 changed files with 48 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files

64
wpilibc/wpilibC++IntegrationTests/src/TiltPanCameraTest.cpp
View File

@@ -9,46 +9,56 @@
#include "gtest/gtest.h"
#include "TestBench.h"
static constexpr double kResetTime = 1.0;
static constexpr double kServoResetTime = 1.0;
static constexpr double kTestAngle = 180.0;
static constexpr double kTiltSetpoint0 = 0.16;
static constexpr double kTiltSetpoint45 = 0.385;
static constexpr double kTiltSetpoint90 = 0.61;
static constexpr double kTiltTime = 0.5;
static constexpr double kAccelerometerTolerance = 0.1;
/**
* A fixture for the camera with two servos and a gyro
* @author Thomas Clark
*/
class TiltPanCameraTest : public testing::Test {
protected:
static Gyro *m_gyro;
Servo *m_tilt, *m_pan;
Gyro *m_gyro;
ADXL345_SPI *m_spiAccel;
static void SetUpTestCase() {
// The gyro object blocks for 5 seconds in the constructor, so only
// construct it once for the whole test case
m_gyro = new Gyro(TestBench::kCameraGyroChannel);
}
static void TearDownTestCase() {
delete m_gyro;
}
virtual void SetUp() {
m_tilt = new Servo(TestBench::kCameraTiltChannel);
m_pan = new Servo(TestBench::kCameraPanChannel);
m_gyro = new Gyro(TestBench::kCameraGyroChannel);
m_spiAccel = new ADXL345_SPI(SPI::kOnboardCS0);
}
virtual void TearDown() {
delete m_tilt;
delete m_pan;
delete m_gyro;
}
void Reset() {
m_tilt->Set(0.0);
m_pan->Set(0.0);
Wait(kResetTime);
m_gyro->Reset();
delete m_spiAccel;
}
};
Gyro *TiltPanCameraTest::m_gyro = 0;
/**
* Test if the servo turns 180 degrees and the gyroscope measures this angle
*/
TEST_F(TiltPanCameraTest, GyroAngle) {
Reset();
Wait(kServoResetTime);
for(int i = 0; i < 100; i++) {
m_pan->Set(i / 100.0);
@@ -61,4 +71,26 @@ TEST_F(TiltPanCameraTest, GyroAngle) {
<< " degrees, servo should have turned " << kTestAngle << " degrees";
}
/**
* Test if the accelerometer measures gravity along the correct axes when the
* camera rotates
*/
TEST_F(TiltPanCameraTest, SPIAccelerometer) {
m_tilt->Set(kTiltSetpoint0);
Wait(kTiltTime);
EXPECT_NEAR(-1.0, m_spiAccel->GetAcceleration(ADXL345_SPI::kAxis_X), kAccelerometerTolerance);
EXPECT_NEAR(0.0, m_spiAccel->GetAcceleration(ADXL345_SPI::kAxis_Y), kAccelerometerTolerance);
EXPECT_NEAR(0.0, m_spiAccel->GetAcceleration(ADXL345_SPI::kAxis_Z), kAccelerometerTolerance);
m_tilt->Set(kTiltSetpoint45);
Wait(kTiltTime);
EXPECT_NEAR(-std::sqrt(0.5), m_spiAccel->GetAcceleration(ADXL345_SPI::kAxis_X), kAccelerometerTolerance);
EXPECT_NEAR(0.0, m_spiAccel->GetAcceleration(ADXL345_SPI::kAxis_Y), kAccelerometerTolerance);
EXPECT_NEAR(std::sqrt(0.5), m_spiAccel->GetAcceleration(ADXL345_SPI::kAxis_Z), kAccelerometerTolerance);
m_tilt->Set(kTiltSetpoint90);
Wait(kTiltTime);
EXPECT_NEAR(0.0, m_spiAccel->GetAcceleration(ADXL345_SPI::kAxis_X), kAccelerometerTolerance);
EXPECT_NEAR(0.0, m_spiAccel->GetAcceleration(ADXL345_SPI::kAxis_Y), kAccelerometerTolerance);
EXPECT_NEAR(1.0, m_spiAccel->GetAcceleration(ADXL345_SPI::kAxis_Z), kAccelerometerTolerance);
}