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Remove CAN TalonSRX from WPILib (moving to external library) (#268)

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This commit is contained in:
Kevin-OConnor
2016-10-13 21:50:20 -04:00
committed by Fred Silberberg
parent 55346e28d0
commit 567ea1d58d
14 changed files with 1 additions and 8805 deletions
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77
wpilibcIntegrationTests/src/CANTalonTest.cpp
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@@ -1,77 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2014-2016. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "CANTalon.h" // NOLINT(build/include_order)
#include "TestBench.h"
#include "Timer.h"
#include "gtest/gtest.h"
const int32_t deviceId = 0;
TEST(CANTalonTest, QuickTest) {
double throttle = 0.1;
CANTalon talon(deviceId);
talon.SetControlMode(CANSpeedController::kPercentVbus);
talon.EnableControl();
talon.Set(throttle);
Wait(0.25);
EXPECT_NEAR(talon.Get(), throttle, 5e-3);
talon.Set(-throttle);
Wait(0.25);
EXPECT_NEAR(talon.Get(), -throttle, 5e-3);
talon.Disable();
Wait(0.1);
EXPECT_FLOAT_EQ(talon.Get(), 0.0);
}
TEST(CANTalonTest, SetGetPID) {
// Tests that we can actually set and get PID values as intended.
CANTalon talon(deviceId);
double p = 0.05, i = 0.098, d = 1.23;
talon.SetPID(p, i, d);
// Wait(0.03);
EXPECT_NEAR(p, talon.GetP(), 1e-5);
EXPECT_NEAR(i, talon.GetI(), 1e-5);
EXPECT_NEAR(d, talon.GetD(), 1e-5);
// Test with new values in case the talon was already set to the previous
// ones.
p = 0.15;
i = 0.198;
d = 1.03;
talon.SetPID(p, i, d);
// Wait(0.03);
EXPECT_NEAR(p, talon.GetP(), 1e-5);
EXPECT_NEAR(i, talon.GetI(), 1e-5);
EXPECT_NEAR(d, talon.GetD(), 1e-5);
}
TEST(CANTalonTest, DISABLED_PositionModeWorks) {
CANTalon talon(deviceId);
talon.SetFeedbackDevice(CANTalon::AnalogPot);
talon.SetControlMode(CANSpeedController::kPosition);
Wait(0.1);
double p = 2;
double i = 0.00;
double d = 0.00;
Wait(0.2);
talon.SetControlMode(CANSpeedController::kPosition);
talon.SetFeedbackDevice(CANTalon::AnalogPot);
talon.SetPID(p, i, d);
Wait(0.2);
talon.Set(100);
Wait(100);
talon.Disable();
EXPECT_NEAR(talon.Get(), 500, 1000);
}
TEST(CANTalonTest, GetFaults) {
CANTalon talon(deviceId);
EXPECT_EQ(talon.GetFaults(), 0);
EXPECT_EQ(talon.GetStickyFaults(), 0);
}