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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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156
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/CANTalonTest.java
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@@ -1,156 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2016. 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj;
import org.junit.AfterClass;
import org.junit.Before;
import org.junit.BeforeClass;
import org.junit.Test;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.fixtures.SampleFixture;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import static org.junit.Assert.assertTrue;
/**
* Basic test (borrowed straight from SampleTest) for running the CAN TalonSRX.
*/
public class CANTalonTest extends AbstractComsSetup {
private static final Logger logger = Logger.getLogger(SampleTest.class.getName());
static SampleFixture m_fixture = new SampleFixture();
protected Logger getClassLogger() {
return logger;
}
@BeforeClass
public static void classSetup() {
// Set up the fixture before the test is created
m_fixture.setup();
}
@Before
public void setUp() {
// Reset the fixture elements before every test
m_fixture.reset();
}
@AfterClass
public static void tearDown() {
// Clean up the fixture after the test
m_fixture.teardown();
}
private String errorMessage(double actual, double expected) {
String start = "Actual value was: ";
start += actual;
start += " Expected: ";
start += expected;
return start;
}
/**
* Briefly run a CAN Talon and assert true.
*/
@Test
public void throttle() {
double throttle = 0.1;
CANTalon tal = new CANTalon(0);
tal.set(throttle);
Timer.delay(5.0);
assertTrue(errorMessage(tal.get(), throttle), Math.abs(throttle - tal.get()) < 1e-2);
tal.set(-throttle);
Timer.delay(1.25);
assertTrue(errorMessage(tal.get(), -throttle), Math.abs(throttle + tal.get()) < 1e-2);
tal.reverseOutput(true);
tal.set(-throttle);
Timer.delay(1.25);
assertTrue(errorMessage(tal.get(), -throttle), Math.abs(throttle + tal.get()) < 1e-2);
tal.disable();
Timer.delay(0.2);
assertTrue(errorMessage(tal.get(), 0.0), Math.abs(tal.get()) < 1e-10);
}
@Test
public void setGetPID() {
CANTalon talon = new CANTalon(0);
talon.changeControlMode(CANTalon.TalonControlMode.Position);
@SuppressWarnings({"LocalVariableName", "MultipleVariableDeclarations"})
double p = 0.05, i = 0.098, d = 1.23;
talon.setPID(p, i, d);
assertTrue(errorMessage(talon.getP(), p), Math.abs(p - talon.getP()) < 1e-5);
assertTrue(errorMessage(talon.getI(), i), Math.abs(i - talon.getI()) < 1e-5);
assertTrue(errorMessage(talon.getD(), d), Math.abs(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);
assertTrue(errorMessage(talon.getP(), p), Math.abs(p - talon.getP()) < 1e-5);
assertTrue(errorMessage(talon.getI(), i), Math.abs(i - talon.getI()) < 1e-5);
assertTrue(errorMessage(talon.getD(), d), Math.abs(d - talon.getD()) < 1e-5);
}
@Test
public void positionModeWorks() {
CANTalon talon = new CANTalon(0);
talon.changeControlMode(CANTalon.TalonControlMode.Position);
talon.setFeedbackDevice(CANTalon.FeedbackDevice.AnalogPot);
Timer.delay(0.2);
@SuppressWarnings({"LocalVariableName", "MultipleVariableDeclarations"})
double p = 1.0, i = 0.0, d = 0.00;
talon.setPID(p, i, d);
talon.set(100);
Timer.delay(5.0);
talon.reverseOutput(true);
Timer.delay(5.0);
// assertTrue(errorMessage(talon.get(), 100), Math.abs(100 - talon.get()) <
// 10);
assertTrue(true);
}
@Test
public void testBrake() {
CANTalon talon = new CANTalon(0);
for (int i = 0; i < 5; i++) {
talon.enableBrakeMode(true);
Timer.delay(0.5);
talon.enableBrakeMode(false);
Timer.delay(0.5);
}
}
//Test Get Fault methods (artf4814)
@Test
public void testGetFaults() {
CANTalon talon = new CANTalon(0);
talon.clearStickyFaults();
assertTrue(talon.getFaultOverTemp() == 0);
assertTrue(talon.getFaultUnderVoltage() == 0);
assertTrue(talon.getFaultForLim() == 0);
assertTrue(talon.getFaultRevLim() == 0);
assertTrue(talon.getFaultHardwareFailure() == 0);
assertTrue(talon.getFaultForSoftLim() == 0);
assertTrue(talon.getFaultRevSoftLim() == 0);
assertTrue(talon.getStickyFaultOverTemp() == 0);
// assertTrue(talon.getStickyFaultUnderVoltage()==0);
assertTrue(talon.getStickyFaultForLim() == 0);
assertTrue(talon.getStickyFaultRevLim() == 0);
assertTrue(talon.getStickyFaultForSoftLim() == 0);
assertTrue(talon.getStickyFaultRevSoftLim() == 0);
}
}

3
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/SampleTest.java
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@@ -58,10 +58,7 @@ public class SampleTest extends AbstractComsSetup {
*/
@Test
public void test() {
CANTalon cantalon = new CANTalon(0);
cantalon.set(0.5);
Timer.delay(0.5);
cantalon.set(0.0);
assertTrue(true);
}

2
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/WpiLibJTestSuite.java
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@@ -19,7 +19,7 @@ import edu.wpi.first.wpilibj.test.AbstractTestSuite;
*/
@RunWith(Suite.class)
@SuiteClasses({AnalogCrossConnectTest.class, AnalogPotentiometerTest.class,
BuiltInAccelerometerTest.class, CANTalonTest.class,
BuiltInAccelerometerTest.class,
CircularBufferTest.class, ConstantsPortsTest.class, CounterTest.class,
DigitalGlitchFilterTest.class, DIOCrossConnectTest.class, DriverStationTest.class,
EncoderTest.class, FilterNoiseTest.class, FilterOutputTest.class, GyroTest.class,