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Merge "Update PCM test to check Solenoid get methods also"

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This commit is contained in:
Peter Johnson (294)
2015-11-25 22:55:32 -08:00
committed by Gerrit Code Review
parent 68bb074165 ab90e7aa2a
commit 752f5fb4e4
2 changed files with 26 additions and 4 deletions
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15
wpilibcIntegrationTests/src/PCMTest.cpp
View File

@@ -84,7 +84,7 @@ TEST_F(PCMTest, DISABLED_PressureSwitch) {
/** /**
* Test if the correct solenoids turn on and off when they should * Test if the correct solenoids turn on and off when they should
*/ */
TEST_F(PCMTest, DISABLED_Solenoid) { TEST_F(PCMTest, Solenoid) {
Reset(); Reset();
Solenoid solenoid1(TestBench::kSolenoidChannel1); Solenoid solenoid1(TestBench::kSolenoidChannel1);
Solenoid solenoid2(TestBench::kSolenoidChannel2); Solenoid solenoid2(TestBench::kSolenoidChannel2);
@@ -95,6 +95,8 @@ TEST_F(PCMTest, DISABLED_Solenoid) {
Wait(kSolenoidDelayTime); Wait(kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off"; EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off"; EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
EXPECT_FALSE(solenoid2.Get()) << "Solenoid #2 did not read off";
// Turn one solenoid on and one off // Turn one solenoid on and one off
solenoid1.Set(true); solenoid1.Set(true);
@@ -102,6 +104,8 @@ TEST_F(PCMTest, DISABLED_Solenoid) {
Wait(kSolenoidDelayTime); Wait(kSolenoidDelayTime);
EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on"; EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off"; EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
EXPECT_TRUE(solenoid1.Get()) << "Solenoid #1 did not read on";
EXPECT_FALSE(solenoid2.Get()) << "Solenoid #2 did not read off";
// Turn one solenoid on and one off // Turn one solenoid on and one off
solenoid1.Set(false); solenoid1.Set(false);
@@ -109,6 +113,8 @@ TEST_F(PCMTest, DISABLED_Solenoid) {
Wait(kSolenoidDelayTime); Wait(kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off"; EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on"; EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
EXPECT_TRUE(solenoid2.Get()) << "Solenoid #2 did not read on";
// Turn both on // Turn both on
solenoid1.Set(true); solenoid1.Set(true);
@@ -116,13 +122,15 @@ TEST_F(PCMTest, DISABLED_Solenoid) {
Wait(kSolenoidDelayTime); Wait(kSolenoidDelayTime);
EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on"; EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on"; EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
EXPECT_TRUE(solenoid1.Get()) << "Solenoid #1 did not read on";
EXPECT_TRUE(solenoid2.Get()) << "Solenoid #2 did not read on";
} }
/** /**
* Test if the correct solenoids turn on and off when they should when used * Test if the correct solenoids turn on and off when they should when used
* with the DoubleSolenoid class. * with the DoubleSolenoid class.
*/ */
TEST_F(PCMTest, DISABLED_DoubleSolenoid) { TEST_F(PCMTest, DoubleSolenoid) {
DoubleSolenoid solenoid(TestBench::kSolenoidChannel1, DoubleSolenoid solenoid(TestBench::kSolenoidChannel1,
TestBench::kSolenoidChannel2); TestBench::kSolenoidChannel2);
@@ -130,14 +138,17 @@ TEST_F(PCMTest, DISABLED_DoubleSolenoid) {
Wait(kSolenoidDelayTime); Wait(kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off"; EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off"; EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
EXPECT_TRUE(solenoid.Get() == DoubleSolenoid::kOff) << "Solenoid does not read off";
solenoid.Set(DoubleSolenoid::kForward); solenoid.Set(DoubleSolenoid::kForward);
Wait(kSolenoidDelayTime); Wait(kSolenoidDelayTime);
EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on"; EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off"; EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
EXPECT_TRUE(solenoid.Get() == DoubleSolenoid::kForward) << "Solenoid does not read forward";
solenoid.Set(DoubleSolenoid::kReverse); solenoid.Set(DoubleSolenoid::kReverse);
Wait(kSolenoidDelayTime); Wait(kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off"; EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on"; EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
EXPECT_TRUE(solenoid.Get() == DoubleSolenoid::kReverse) << "Solenoid does not read reverse";
} }

15
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PCMTest.java
View File

@@ -99,7 +99,7 @@ public class PCMTest extends AbstractComsSetup {
assertEquals("Compressor did not turn on when the pressure switch turned on.", assertEquals("Compressor did not turn on when the pressure switch turned on.",
kCompressorOnVoltage, fakeCompressor.getVoltage(), range); kCompressorOnVoltage, fakeCompressor.getVoltage(), range);
// Turn on the compressor // Turn off the compressor
fakePressureSwitch.set(false); fakePressureSwitch.set(false);
Timer.delay(kCompressorDelayTime); Timer.delay(kCompressorDelayTime);
assertEquals("Compressor did not turn off when the pressure switch turned off.", assertEquals("Compressor did not turn off when the pressure switch turned off.",
@@ -119,8 +119,10 @@ public class PCMTest extends AbstractComsSetup {
solenoid1.set(false); solenoid1.set(false);
solenoid2.set(false); solenoid2.set(false);
Timer.delay(kSolenoidDelayTime); Timer.delay(kSolenoidDelayTime);
assertTrue("Solenoid #1 did not turn on", fakeSolenoid1.get()); assertTrue("Solenoid #1 did not turn off", fakeSolenoid1.get());
assertTrue("Solenoid #2 did not turn off", fakeSolenoid2.get()); assertTrue("Solenoid #2 did not turn off", fakeSolenoid2.get());
assertFalse("Solenoid #1 did not report off", solenoid1.get());
assertFalse("Solenoid #2 did not report off", solenoid2.get());
// Turn Solenoid #1 on, and turn Solenoid #2 off // Turn Solenoid #1 on, and turn Solenoid #2 off
solenoid1.set(true); solenoid1.set(true);
@@ -128,6 +130,8 @@ public class PCMTest extends AbstractComsSetup {
Timer.delay(kSolenoidDelayTime); Timer.delay(kSolenoidDelayTime);
assertFalse("Solenoid #1 did not turn on", fakeSolenoid1.get()); assertFalse("Solenoid #1 did not turn on", fakeSolenoid1.get());
assertTrue("Solenoid #2 did not turn off", fakeSolenoid2.get()); assertTrue("Solenoid #2 did not turn off", fakeSolenoid2.get());
assertTrue("Solenoid #1 did not report on", solenoid1.get());
assertFalse("Solenoid #2 did not report off", solenoid2.get());
// Turn Solenoid #1 off, and turn Solenoid #2 on // Turn Solenoid #1 off, and turn Solenoid #2 on
solenoid1.set(false); solenoid1.set(false);
@@ -135,6 +139,8 @@ public class PCMTest extends AbstractComsSetup {
Timer.delay(kSolenoidDelayTime); Timer.delay(kSolenoidDelayTime);
assertTrue("Solenoid #1 did not turn off", fakeSolenoid1.get()); assertTrue("Solenoid #1 did not turn off", fakeSolenoid1.get());
assertFalse("Solenoid #2 did not turn on", fakeSolenoid2.get()); assertFalse("Solenoid #2 did not turn on", fakeSolenoid2.get());
assertFalse("Solenoid #1 did not report off", solenoid1.get());
assertTrue("Solenoid #2 did not report on", solenoid2.get());
// Turn both Solenoids on // Turn both Solenoids on
solenoid1.set(true); solenoid1.set(true);
@@ -142,6 +148,8 @@ public class PCMTest extends AbstractComsSetup {
Timer.delay(kSolenoidDelayTime); Timer.delay(kSolenoidDelayTime);
assertFalse("Solenoid #1 did not turn on", fakeSolenoid1.get()); assertFalse("Solenoid #1 did not turn on", fakeSolenoid1.get());
assertFalse("Solenoid #2 did not turn on", fakeSolenoid2.get()); assertFalse("Solenoid #2 did not turn on", fakeSolenoid2.get());
assertTrue("Solenoid #1 did not report on", solenoid1.get());
assertTrue("Solenoid #2 did not report on", solenoid2.get());
solenoid1.free(); solenoid1.free();
solenoid2.free(); solenoid2.free();
@@ -159,16 +167,19 @@ public class PCMTest extends AbstractComsSetup {
Timer.delay(kSolenoidDelayTime); Timer.delay(kSolenoidDelayTime);
assertTrue("Solenoid #1 did not turn off", fakeSolenoid1.get()); assertTrue("Solenoid #1 did not turn off", fakeSolenoid1.get());
assertTrue("Solenoid #2 did not turn off", fakeSolenoid2.get()); assertTrue("Solenoid #2 did not turn off", fakeSolenoid2.get());
assertTrue("DoubleSolenoid did not report off", (solenoid.get() == DoubleSolenoid.Value.kOff));
solenoid.set(DoubleSolenoid.Value.kForward); solenoid.set(DoubleSolenoid.Value.kForward);
Timer.delay(kSolenoidDelayTime); Timer.delay(kSolenoidDelayTime);
assertFalse("Solenoid #1 did not turn on", fakeSolenoid1.get()); assertFalse("Solenoid #1 did not turn on", fakeSolenoid1.get());
assertTrue("Solenoid #2 did not turn off", fakeSolenoid2.get()); assertTrue("Solenoid #2 did not turn off", fakeSolenoid2.get());
assertTrue("DoubleSolenoid did not report Forward", (solenoid.get() == DoubleSolenoid.Value.kForward));
solenoid.set(DoubleSolenoid.Value.kReverse); solenoid.set(DoubleSolenoid.Value.kReverse);
Timer.delay(kSolenoidDelayTime); Timer.delay(kSolenoidDelayTime);
assertTrue("Solenoid #1 did not turn off", fakeSolenoid1.get()); assertTrue("Solenoid #1 did not turn off", fakeSolenoid1.get());
assertFalse("Solenoid #2 did not turn on", fakeSolenoid2.get()); assertFalse("Solenoid #2 did not turn on", fakeSolenoid2.get());
assertTrue("DoubleSolenoid did not report Reverse", (solenoid.get() == DoubleSolenoid.Value.kReverse));
solenoid.free(); solenoid.free();
} }