C++ PCM integration tests

Change-Id: I1ad0090edf0c8986ca8f1bfc78c936c5dd55c432
2026-07-02 02:51:42 +00:00 · 2014-06-12 11:17:57 -04:00
parent 3c5d46c2ae
commit 5d646536fb
3 changed files with 143 additions and 14 deletions
--- a/wpilibc/wpilibC++IntegrationTests/src/PCMTest.cpp
+++ b/wpilibc/wpilibC++IntegrationTests/src/PCMTest.cpp
@@ -0,0 +1,119 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014. 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 "WPILib.h"
+#include "gtest/gtest.h"
+#include "TestBench.h"
+
+/* The PCM switches the compressor up to 2 seconds after the pressure switch
+  changes. */
+static const double kCompressoDelayTime = 2.0;
+
+/* Solenoids should change much more quickly */
+static const double kSolenoidDelayTime = 0.1;
+
+/* The voltage divider on the test bench should bring the compressor output
+  to around these values. */
+static const double kCompressorOnVoltage = 5.00;
+static const double kCompressorOffVoltage = 1.68;
+
+class PCMTest : public testing::Test {
+protected:
+  Compressor *m_compressor;
+
+  DigitalOutput *m_fakePressureSwitch;
+  AnalogChannel *m_fakeCompressor;
+
+  Solenoid *m_solenoid1, *m_solenoid2;
+  DigitalInput *m_fakeSolenoid1, *m_fakeSolenoid2;
+
+  virtual void SetUp() {
+    m_compressor = new Compressor();
+
+    m_fakePressureSwitch = new DigitalOutput(TestBench::kFakePressureSwitchChannel);
+    m_fakeCompressor = new AnalogChannel(TestBench::kFakeCompressorChannel);
+
+    m_solenoid1 = new Solenoid(1);
+    m_solenoid2 = new Solenoid(2);
+
+    m_fakeSolenoid1 = new DigitalInput(TestBench::kFakeSolenoid1Channel);
+    m_fakeSolenoid2 = new DigitalInput(TestBench::kFakeSolenoid2Channel);
+  }
+
+  virtual void TearDown() {
+    delete m_compressor;
+    delete m_fakePressureSwitch;
+    delete m_fakeCompressor;
+    delete m_solenoid1;
+    delete m_solenoid2;
+    delete m_fakeSolenoid1;
+    delete m_fakeSolenoid2;
+  }
+
+  void Reset() {
+    m_compressor->Stop();
+    m_fakePressureSwitch->Set(false);
+    m_solenoid1->Set(false);
+    m_solenoid2->Set(false);
+  }
+};
+
+/**
+ * Test if the compressor turns on and off when the pressure switch is toggled
+ */
+TEST_F(PCMTest, PressureSwitch) {
+  Reset();
+
+  m_compressor->SetClosedLoopControl(true);
+
+  // Turn on the compressor
+  m_fakePressureSwitch->Set(true);
+  Wait(kCompressoDelayTime);
+  EXPECT_NEAR(kCompressorOnVoltage, m_fakeCompressor->GetVoltage(), 0.1)
+    << "Compressor did not turn on when the pressure switch turned on.";
+
+  // Turn off the compressor
+  m_fakePressureSwitch->Set(false);
+  Wait(kCompressoDelayTime);
+  EXPECT_NEAR(kCompressorOffVoltage, m_fakeCompressor->GetVoltage(), 0.1)
+    << "Compressor did not turn off when the pressure switch turned off.";
+}
+
+/**
+ * Test if the correct solenoids turn on and off when they should
+ */
+TEST_F(PCMTest, Solenoid) {
+  Reset();
+
+  // Turn both solenoids off
+  m_solenoid1->Set(false);
+  m_solenoid2->Set(false);
+  Wait(kSolenoidDelayTime);
+  EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
+  EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
+
+  // Turn one solenoid on and one off
+  m_solenoid1->Set(true);
+  m_solenoid2->Set(false);
+  Wait(kSolenoidDelayTime);
+  EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
+  EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
+
+  // Turn one solenoid on and one off
+  m_solenoid1->Set(true);
+  m_solenoid2->Set(false);
+  Wait(kSolenoidDelayTime);
+  EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
+  EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
+
+  // Turn both on
+  m_solenoid1->Set(true);
+  m_solenoid2->Set(true);
+  Wait(kSolenoidDelayTime);
+  EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
+  EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
+}