From 6b356020f3d3188e70092fdbd8e8181abc56a9d3 Mon Sep 17 00:00:00 2001 From: Patrick Date: Fri, 29 Jan 2016 14:25:19 -0500 Subject: [PATCH] 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. Change-Id: I84b2f168b27d07b444e223ae225013b6e97edde3 --- wpilibcIntegrationTests/include/TestBench.h | 2 +- .../src/PowerDistributionPanelTest.cpp | 37 ------------------- .../java/edu/wpi/first/wpilibj/PDPTest.java | 6 +-- .../edu/wpi/first/wpilibj/test/TestBench.java | 2 +- 4 files changed, 4 insertions(+), 43 deletions(-) diff --git a/wpilibcIntegrationTests/include/TestBench.h b/wpilibcIntegrationTests/include/TestBench.h index 3c44e796ea..eb1ef63195 100644 --- a/wpilibcIntegrationTests/include/TestBench.h +++ b/wpilibcIntegrationTests/include/TestBench.h @@ -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; diff --git a/wpilibcIntegrationTests/src/PowerDistributionPanelTest.cpp b/wpilibcIntegrationTests/src/PowerDistributionPanelTest.cpp index fc9886eac2..ccfb796419 100644 --- a/wpilibcIntegrationTests/src/PowerDistributionPanelTest.cpp +++ b/wpilibcIntegrationTests/src/PowerDistributionPanelTest.cpp @@ -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"; -} diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java index c7683af28b..cd65d1a8d3 100644 --- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java +++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java @@ -65,9 +65,7 @@ public class PDPTest extends AbstractComsSetup { public static Collection 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.", diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java index 7ab009dad2..621172dae6 100644 --- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java +++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java @@ -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 */