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Added support for basic PID in java Talon SRX.

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Tested analog PID in Java and C++.
Changed to default to controlEnabled.
Loosely wrapped a bunch of CanTalonSRX functions in Java.

Change-Id: I9da380e2368d9a72f08be4434ac63b5710a9f90f
This commit is contained in:
James Kuszmaul
2014-12-01 14:05:26 -05:00
parent ea610eb302
commit 5893d28f39
13 changed files with 1438 additions and 405 deletions
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90
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/CANTalonTest.java
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@@ -52,32 +52,82 @@ public class CANTalonTest extends AbstractComsSetup {
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 test() {
// The constructor takes a device ID (settable in roboRIO web interface).
CanTalonSRX talon = new CanTalonSRX(0);
// Make sure that the Talon is in the basic throttle mode.
talon.SetModeSelect(0);
// Set Talon to 50% forwards throttle.
talon.Set(0.5);
long currentp = CanTalonJNI.new_doublep();//new SWIGTYPE_p_double(, true);
talon.GetTemp(new SWIGTYPE_p_double(currentp, true));
System.out.println(CanTalonJNI.doublep_value(currentp));
Timer.delay(1.5);
// Turn Talon off.
talon.Set(0.0);
assertTrue(true);
Timer.delay(2);
public void throttle() {
double throttle = 0.1;
CANTalon tal = new CANTalon(0);
tal.enableControl();
tal.set(0.5);
System.out.println(tal.getTemp());
Timer.delay(1.0);
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.ControlMode.Position);
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.ControlMode.Position);
talon.setFeedbackDevice(CANTalon.FeedbackDevice.AnalogPot);
Timer.delay(0.2);
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);
}
}
}