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Updated PDP port of Talon and disabled PDP tests for Victor and Jaguar since the Victor and Jaguar don't draw enough current for the PDP to read above 0. PDP tests for both java and cpp only test the Talon now.

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Change-Id: I84b2f168b27d07b444e223ae225013b6e97edde3
This commit is contained in:
Patrick
2016-01-29 14:25:19 -05:00
parent c6ff69079a
commit 6b356020f3
4 changed files with 4 additions and 43 deletions
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2
wpilibcIntegrationTests/include/TestBench.h
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@@ -58,7 +58,7 @@ class TestBench {
/* PDP channels */
static const uint32_t kJaguarPDPChannel = 6;
static const uint32_t kVictorPDPChannel = 8;
static const uint32_t kTalonPDPChannel = 11;
static const uint32_t kTalonPDPChannel = 10;
/* PCM channels */
static const int32_t kSolenoidChannel1 = 0;

37
wpilibcIntegrationTests/src/PowerDistributionPanelTest.cpp
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@@ -56,40 +56,3 @@ TEST_F(PowerDistributionPanelTest, CheckCurrentTalon) {
<< "The Talon current was not positive";
}
/**
* Test if the current changes when the motor is driven using a victor
*/
TEST_F(PowerDistributionPanelTest, CheckCurrentVictor) {
Wait(kMotorTime);
/* 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(kMotorTime);
/* 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) {
Wait(kMotorTime);
/* 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(kMotorTime);
/* The current should now be positive */
ASSERT_GT(m_pdp->GetCurrent(TestBench::kJaguarPDPChannel), 0)
<< "The Jaguar current was not positive";
}

6
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java
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@@ -65,9 +65,7 @@ public class PDPTest extends AbstractComsSetup {
public static Collection<Object[]> generateData() {
// logger.fine("Loading the MotorList");
return Arrays.asList(new Object[][] {
{TestBench.getInstance().getTalonPair(), new Double(0.0)},
{TestBench.getInstance().getVictorPair(), new Double(0.0)},
{TestBench.getInstance().getJaguarPair(), new Double(0.0)}});
{TestBench.getInstance().getTalonPair(), new Double(0.0)}});
}
@After
@@ -97,7 +95,7 @@ public class PDPTest extends AbstractComsSetup {
/* Set the motor to full forward */
me.getMotor().set(1.0);
Timer.delay(0.25);
Timer.delay(2);
/* The current should now be greater than the low current */
assertThat("The driven current is not greater than the resting current.",

2
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java
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@@ -68,7 +68,7 @@ public final class TestBench {
/* PowerDistributionPanel channels */
public static final int kJaguarPDPChannel = 6;
public static final int kVictorPDPChannel = 8;
public static final int kTalonPDPChannel = 11;
public static final int kTalonPDPChannel = 10;
public static final int kCANJaguarPDPChannel = 5;
/* CAN ASSOICATED CHANNELS */