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Add new CTRE classes and update PDP tests

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Change-Id: I489091c5b8b0f1f9890e5104bf01e40ae53cf6ce
This commit is contained in:
Thomas Clark
2014-08-18 10:32:26 -04:00
parent c82a94b268
commit 687bc44ae5
4 changed files with 69 additions and 79 deletions
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6
hal/lib/Athena/ctre/PCM.cpp
View File

@@ -216,7 +216,7 @@ CTR_Code PCM::GetCompressorCurrent(float &status)
uint32_t temp =(rx->compressorCurrentTop6);
temp <<= 4;
temp |= rx->compressorCurrentBtm4;
status = 20.1612903225806 * temp;
status = temp * 0.03125; /* 5.5 fixed pt value in Amps */
return rx.err;
}
@@ -230,7 +230,7 @@ CTR_Code PCM::GetSolenoidVoltage(float &status)
uint32_t raw =(rx->solenoidVoltageTop8);
raw <<= 2;
raw |= rx->solenoidVoltageBtm2;
status = (double) raw * 24.7800586510264 / 1000;
status = (double) raw * 0.03125; /* 5.5 fixed pt value in Volts */
return rx.err;
}
@@ -297,7 +297,7 @@ CTR_Code PCM::GetSolenoidStickyFault(bool &status)
CTR_Code PCM::GetBatteryVoltage(float &status)
{
GET_PCM_STATUS();
status = (float)rx->battVoltage * ((59.0420332355816) / 1000.0);;
status = (float)rx->battVoltage * 0.05 + 4.0; /* 50mV per unit plus 4V. */
return rx.err;
}
/* Return status of module enable/disable

6
hal/lib/Athena/ctre/PDP.cpp
View File

@@ -110,7 +110,7 @@ CTR_Code PDP::GetChannelCurrent(UINT8 idx, double &current)
}
}
/* convert to amps */
current = 0.06724511900000001*raw + 1.527114967;
current = (double)raw * 0.125; /* 7.3 fixed pt value in Amps */
/* signal caller with success */
return retval;
}
@@ -118,14 +118,14 @@ CTR_Code PDP::GetVoltage(double &voltage)
{
GET_STATUS3();
uint32_t raw = rx->busVoltage;
voltage = 0.0554413328606877 * raw;
voltage = (double)raw * 0.05 + 4.0; /* 50mV per unit plus 4V. */;
return rx.err;
}
CTR_Code PDP::GetTemperature(double &tempC)
{
GET_STATUS3();
uint32_t raw = rx->temp;
tempC = ((double)raw-67.8564500484966)*1.03250836957542;
tempC = (double)raw * 1.03250836957542 - 67.8564500484966;
return rx.err;
}
//------------------ C interface --------------------------------------------//

109
wpilibc/wpilibC++IntegrationTests/src/PowerDistributionPanelTest.cpp
View File

@@ -9,92 +9,83 @@
#include "gtest/gtest.h"
#include "TestBench.h"
/* The current returned when the motor is not being driven */
static const double kLowCurrent = 1.52;
static const double kCurrentTolerance = 0.1;
static const double kMotorTime = 0.25;
class PowerDistributionPanelTest : public testing::Test {
protected:
PowerDistributionPanel *m_pdp;
Talon *m_talon;
Victor *m_victor;
Jaguar *m_jaguar;
PowerDistributionPanel *m_pdp;
Talon *m_talon;
Victor *m_victor;
Jaguar *m_jaguar;
virtual void SetUp() {
m_pdp = new PowerDistributionPanel();
m_talon = new Talon(TestBench::kTalonChannel);
m_victor = new Victor(TestBench::kVictorChannel);
m_jaguar = new Jaguar(TestBench::kJaguarChannel);
}
virtual void SetUp() {
m_pdp = new PowerDistributionPanel();
m_talon = new Talon(TestBench::kTalonChannel);
m_victor = new Victor(TestBench::kVictorChannel);
m_jaguar = new Jaguar(TestBench::kJaguarChannel);
}
virtual void TearDown() {
delete m_pdp;
delete m_talon;
delete m_victor;
delete m_jaguar;
}
void Reset() {
/* Reset all speed controllers to 0.0 */
m_talon->Set(0.0f);
m_victor->Set(0.0f);
m_jaguar->Set(0.0f);
}
virtual void TearDown() {
delete m_pdp;
delete m_talon;
delete m_victor;
delete m_jaguar;
}
};
/**
* Test if the current changes when the motor is driven using a talon
*/
TEST_F(PowerDistributionPanelTest, CheckCurrentTalon) {
Reset();
TEST_F(PowerDistributionPanelTest, CheckCurrentTalon) {
Wait(kMotorTime);
/* The Current should be kLowCurrent */
EXPECT_NEAR(kLowCurrent, m_pdp->GetCurrent(TestBench::kTalonPDPChannel), kCurrentTolerance)
<< "The low current was not within the expected range.";
/* The Current should be 0 */
EXPECT_FLOAT_EQ(0, m_pdp->GetCurrent(TestBench::kTalonPDPChannel))
<< "The Talon current was non-zero";
/* Set the motor to full forward */
m_talon->Set(1.0);
Wait(0.02);
/* Set the motor to full forward */
m_talon->Set(1.0);
Wait(kMotorTime);
/* The current should now be greater than the low current */
ASSERT_GT(m_pdp->GetCurrent(TestBench::kTalonPDPChannel), kLowCurrent)
<< "The driven current is not greater than the resting current.";
/* The current should now be positive */
ASSERT_GT(m_pdp->GetCurrent(TestBench::kTalonPDPChannel), 0)
<< "The Talon current was not positive";
}
/**
* Test if the current changes when the motor is driven using a victor
*/
TEST_F(PowerDistributionPanelTest,CheckCurrentVictor) {
Reset();
TEST_F(PowerDistributionPanelTest, CheckCurrentVictor) {
Wait(kMotorTime);
/* The Current should be kLowCurrent */
EXPECT_NEAR(kLowCurrent, m_pdp->GetCurrent(TestBench::kVictorPDPChannel), kCurrentTolerance)
<< "The low current was not within the expected range.";
/* The Current should be 0 */
EXPECT_FLOAT_EQ(0, m_pdp->GetCurrent(TestBench::kVictorPDPChannel))
<< "The Victor current was non-zero";
/* Set the motor to full forward */
m_victor->Set(1.0);
Wait(0.02);
/* Set the motor to full forward */
m_victor->Set(1.0);
Wait(kMotorTime);
/* The current should now be greater than the low current */
ASSERT_GT(m_pdp->GetCurrent(TestBench::kVictorPDPChannel), kLowCurrent)
<< "The driven current is not greater than the resting current.";
/* The current should now be positive */
ASSERT_GT(m_pdp->GetCurrent(TestBench::kVictorPDPChannel), 0)
<< "The Victor current was not positive";
}
/**
* Test if the current changes when the motor is driven using a jaguar
*/
TEST_F(PowerDistributionPanelTest, CheckCurrentJaguar) {
Reset();
TEST_F(PowerDistributionPanelTest, CheckCurrentJaguar) {
Wait(kMotorTime);
/* The Current should be kLowCurrent */
EXPECT_NEAR(kLowCurrent, m_pdp->GetCurrent(TestBench::kJaguarPDPChannel), kCurrentTolerance)
<< "The low current was not within the expected range.";
/* The Current should be 0 */
EXPECT_FLOAT_EQ(0, m_pdp->GetCurrent(TestBench::kJaguarPDPChannel))
<< "The Jaguar current was non-zero";
/* Set the motor to full forward */
m_jaguar->Set(1.0);
Wait(0.02);
/* Set the motor to full forward */
m_jaguar->Set(1.0);
Wait(kMotorTime);
/* The current should now be greater than the low current */
ASSERT_GT(m_pdp->GetCurrent(TestBench::kJaguarPDPChannel), kLowCurrent)
<< "The driven current is not greater than the resting current.";
/* The current should now be positive */
ASSERT_GT(m_pdp->GetCurrent(TestBench::kJaguarPDPChannel), 0)
<< "The Jaguar current was not positive";
}

27
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java
View File

@@ -25,10 +25,6 @@ import edu.wpi.first.wpilibj.test.TestBench;
@RunWith(Parameterized.class)
public class PDPTest extends AbstractComsSetup {
private static final Logger logger = Logger.getLogger(PCMTest.class.getName());
/* The current returned when the motor is not being driven */
protected static final double kLowCurrent = 1.52;
protected static final double kCurrentTolerance = 0.1;
private static PowerDistributionPanel pdp;
private static MotorEncoderFixture<?> me;
@@ -37,21 +33,21 @@ public class PDPTest extends AbstractComsSetup {
public static void setUpBeforeClass() throws Exception {
pdp = new PowerDistributionPanel();
}
@AfterClass
public static void tearDownAfterClass() throws Exception {
pdp.free();
me.teardown();
}
public PDPTest(MotorEncoderFixture<?> mef){
logger.fine("Constructor with: " + mef.getType());
if(me != null && !me.equals(mef)) me.teardown();
me = mef;
me.setup();
}
@Parameters(name= "{index}: {0}")
public static Collection<MotorEncoderFixture<?>[]> generateData(){
//logger.fine("Loading the MotorList");
@@ -66,19 +62,21 @@ public class PDPTest extends AbstractComsSetup {
public void tearDown() throws Exception {
me.reset();
}
/**
* Test if the current changes when the motor is driven using a talon
*/
@Test
public void CheckStoppedCurrentForSpeedController() throws CANMessageNotFoundException{
/* The Current should be kLowCurrent */
Timer.delay(0.25);
/* The Current should be 0 */
assertEquals("The low current was not within the expected range.",
kLowCurrent, pdp.getCurrent(me.getPDPChannel()), kCurrentTolerance);
0.0, pdp.getCurrent(me.getPDPChannel()), 0.001);
}
/**
* Test if the current changes when the motor is driven using a talon
*/
@@ -87,10 +85,11 @@ public class PDPTest extends AbstractComsSetup {
/* Set the motor to full forward */
me.getMotor().set(1.0);
Timer.delay(0.02);
Timer.delay(0.25);
/* The current should now be greater than the low current */
assertThat("The driven current is not greater than the resting current.",
pdp.getCurrent(me.getPDPChannel()), is(greaterThan(kLowCurrent)));
pdp.getCurrent(me.getPDPChannel()), is(greaterThan(0.0)));
}
@Override