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Add simple motor simulation classes (#1117)

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This commit is contained in:
PJ Reiniger
2018-07-12 23:11:26 -04:00
committed by Peter Johnson
parent 57fc614074
commit 76c901ce78
22 changed files with 820 additions and 2 deletions
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7
hal/src/main/native/include/MockData/EncoderData.h
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@@ -81,6 +81,13 @@ void HALSIM_CancelEncoderSamplesToAverageCallback(int32_t index, int32_t uid);
int32_t HALSIM_GetEncoderSamplesToAverage(int32_t index);
void HALSIM_SetEncoderSamplesToAverage(int32_t index, int32_t samplesToAverage);
int32_t HALSIM_RegisterEncoderDistancePerPulseCallback(
int32_t index, HAL_NotifyCallback callback, void* param,
HAL_Bool initialNotify);
void HALSIM_CancelEncoderDistancePerPulseCallback(int32_t index, int32_t uid);
double HALSIM_GetEncoderDistancePerPulse(int32_t index);
void HALSIM_SetEncoderDistancePerPulse(int32_t index, double distancePerPulse);
void HALSIM_RegisterEncoderAllCallbacks(int32_t index,
HAL_NotifyCallback callback,
void* param, HAL_Bool initialNotify);

15
hal/src/main/native/include/Simulation/EncoderSim.h
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@@ -123,6 +123,21 @@ class EncoderSim {
HALSIM_SetEncoderSamplesToAverage(m_index, samplesToAverage);
}
std::unique_ptr<CallbackStore> RegisterDistancePerPulseCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelEncoderDistancePerPulseCallback);
store->SetUid(HALSIM_RegisterEncoderDistancePerPulseCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
double GetDistancePerPulse() {
return HALSIM_GetEncoderDistancePerPulse(m_index);
}
void SetDistancePerPulse(double distancePerPulse) {
HALSIM_SetEncoderDistancePerPulse(m_index, distancePerPulse);
}
void ResetData() { HALSIM_ResetEncoderData(m_index); }
private:

21
hal/src/main/native/sim/MockData/EncoderData.cpp
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@@ -39,7 +39,7 @@ void EncoderData::ResetData() {
m_reverseDirectionCallbacks = nullptr;
m_samplesToAverage = 0;
m_samplesToAverageCallbacks = nullptr;
m_distancePerPulse = 0;
m_distancePerPulse = 1;
m_distancePerPulseCallbacks = nullptr;
}
@@ -544,6 +544,25 @@ void HALSIM_SetEncoderSamplesToAverage(int32_t index,
SimEncoderData[index].SetSamplesToAverage(samplesToAverage);
}
int32_t HALSIM_RegisterEncoderDistancePerPulseCallback(
int32_t index, HAL_NotifyCallback callback, void* param,
HAL_Bool initialNotify) {
return SimEncoderData[index].RegisterDistancePerPulseCallback(callback, param,
initialNotify);
}
void HALSIM_CancelEncoderDistancePerPulseCallback(int32_t index, int32_t uid) {
SimEncoderData[index].CancelDistancePerPulseCallback(uid);
}
double HALSIM_GetEncoderDistancePerPulse(int32_t index) {
return SimEncoderData[index].GetDistancePerPulse();
}
void HALSIM_SetEncoderDistancePerPulse(int32_t index, double distancePerPulse) {
SimEncoderData[index].SetDistancePerPulse(distancePerPulse);
}
void HALSIM_RegisterEncoderAllCallbacks(int32_t index,
HAL_NotifyCallback callback,
void* param, HAL_Bool initialNotify) {

2
hal/src/main/native/sim/MockData/EncoderDataInternal.h
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@@ -106,7 +106,7 @@ class EncoderData {
std::shared_ptr<NotifyListenerVector> m_reverseDirectionCallbacks = nullptr;
std::atomic<int32_t> m_samplesToAverage{0};
std::shared_ptr<NotifyListenerVector> m_samplesToAverageCallbacks = nullptr;
std::atomic<double> m_distancePerPulse{0};
std::atomic<double> m_distancePerPulse{1};
std::shared_ptr<NotifyListenerVector> m_distancePerPulseCallbacks = nullptr;
};
extern EncoderData* SimEncoderData;

1
settings.gradle
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@@ -24,5 +24,6 @@ include 'simulation:halsim_ds_nt'
include 'simulation:gz_msgs'
include 'simulation:frc_gazebo_plugins'
include 'simulation:halsim_gazebo'
include 'simulation:lowfi_simulation'
include 'cameraserver'
include 'myRobot'

189
simulation/lowfi_simulation/build.gradle Normal file
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@@ -0,0 +1,189 @@
apply plugin: 'cpp'
apply plugin: 'google-test-test-suite'
apply plugin: 'visual-studio'
apply plugin: 'edu.wpi.first.NativeUtils'
apply plugin: SingleNativeBuild
apply plugin: ExtraTasks
ext {
nativeName = 'lowfi_sim'
}
apply from: "${rootDir}/shared/config.gradle"
if (!project.hasProperty('onlyAthena')) {
ext {
sharedCvConfigs = [lowfi_simTest: []]
staticCvConfigs = [:]
useJava = false
useCpp = true
}
apply from: "${rootDir}/shared/opencv.gradle"
ext {
staticGtestConfigs = [:]
}
staticGtestConfigs["${nativeName}Test"] = []
apply from: "${rootDir}/shared/googletest.gradle"
project(':').libraryBuild.dependsOn build
model {
exportsConfigs {
lowfi_sim(ExportsConfig) {
x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
'_CT??_R0?AVbad_cast',
'_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
'_TI5?AVfailure']
x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
'_CT??_R0?AVbad_cast',
'_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
'_TI5?AVfailure']
}
}
components {
"${nativeName}Base"(NativeLibrarySpec) {
sources {
cpp {
source {
srcDirs = ['src/main/native/cpp', "$buildDir/generated/cpp"]
include '**/*.cpp'
}
exportedHeaders {
srcDirs 'src/main/native/include'
}
}
}
binaries.all {
if (it instanceof SharedLibraryBinarySpec) {
it.buildable = false
return
}
if (it.targetPlatform.architecture.name == 'athena') {
it.buildable = false
return
}
lib project: ':hal', library: 'hal', linkage: 'shared'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
project(':ni-libraries').addNiLibrariesToLinker(it)
}
}
"${nativeName}"(NativeLibrarySpec) {
sources {
cpp {
source {
srcDirs "${rootDir}/shared/singlelib"
include '**/*.cpp'
}
exportedHeaders {
srcDirs 'src/main/native/include'
}
}
}
binaries.all {
if (it.targetPlatform.architecture.name == 'athena') {
it.buildable = false
return
}
lib project: ':hal', library: 'hal', linkage: 'shared'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
project(':ni-libraries').addNiLibrariesToLinker(it)
}
}
// By default, a development executable will be generated. This is to help the case of
// testing specific functionality of the library.
"${nativeName}Dev"(NativeExecutableSpec) {
sources {
cpp {
source {
srcDirs 'src/dev/native/cpp'
include '**/*.cpp'
lib library: 'lowfi_sim'
}
exportedHeaders {
srcDirs 'src/dev/native/include'
}
}
}
binaries.all {
if (it.targetPlatform.architecture.name == 'athena') {
it.buildable = false
return
}
lib project: ':hal', library: 'hal', linkage: 'shared'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
project(':ni-libraries').addNiLibrariesToLinker(it)
}
}
}
binaries {
withType(GoogleTestTestSuiteBinarySpec) {
lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
lib project: ':cscore', library: 'cscore', linkage: 'shared'
lib project: ':hal', library: 'hal', linkage: 'shared'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
project(':ni-libraries').addNiLibrariesToLinker(it)
lib library: nativeName, linkage: 'shared'
}
}
}
apply from: "publish.gradle"
}
model {
testSuites {
if (!project.hasProperty('onlyAthena')) {
"${nativeName}Test"(GoogleTestTestSuiteSpec) {
for(NativeComponentSpec c : $.components) {
if (c.name == nativeName) {
testing c
break
}
}
sources {
cpp {
source {
srcDirs 'src/test/native/cpp'
include '**/*.cpp'
}
exportedHeaders {
srcDirs 'src/test/native/include', 'src/main/native/cpp'
}
}
}
}
}
}
tasks {
def c = $.components
project.tasks.create('runCpp', Exec) {
def found = false
c.each {
if (it in NativeExecutableSpec && it.name == "${nativeName}Dev") {
it.binaries.each {
if (!found) {
def arch = it.targetPlatform.architecture.name
if (arch == 'x86-64' || arch == 'x86') {
dependsOn it.tasks.install
found = true
}
}
}
}
}
}
}
}
tasks.withType(RunTestExecutable) {
args "--gtest_output=xml:test_detail.xml"
outputs.dir outputDir
}

81
simulation/lowfi_simulation/publish.gradle Normal file
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@@ -0,0 +1,81 @@
apply plugin: 'maven-publish'
def pubVersion = ''
if (project.hasProperty("publishVersion")) {
pubVersion = project.publishVersion
} else {
pubVersion = WPILibVersion.version
}
def baseArtifactId = nativeName
def artifactGroupId = 'edu.wpi.first.halsim'
def zipBaseName = "_GROUP_edu_wpi_first_halsim_ID_${nativeName}_CLS"
def outputsFolder = file("$project.buildDir/outputs")
task cppSourcesZip(type: Zip) {
destinationDir = outputsFolder
baseName = zipBaseName
classifier = "sources"
from(licenseFile) {
into '/'
}
from('src/main/native/cpp') {
into '/'
}
}
task cppHeadersZip(type: Zip) {
destinationDir = outputsFolder
baseName = zipBaseName
classifier = "headers"
from(licenseFile) {
into '/'
}
from('src/main/native/include') {
into '/'
}
}
build.dependsOn cppSourcesZip
build.dependsOn cppHeadersZip
addTaskToCopyAllOutputs(cppSourcesZip)
addTaskToCopyAllOutputs(cppHeadersZip)
model {
publishing {
def lowfiSimTaskList = createComponentZipTasks($.components, nativeName, zipBaseName, Zip, project, includeStandardZipFormat)
def allTask
if (!project.hasProperty('jenkinsBuild')) {
allTask = createAllCombined(lowfiSimTaskList, nativeName, zipBaseName, Zip, project)
}
publications {
cpp(MavenPublication) {
lowfiSimTaskList.each {
artifact it
}
if (!project.hasProperty('jenkinsBuild')) {
artifact allTask
}
artifact cppHeadersZip
artifact cppSourcesZip
artifactId = baseArtifactId
groupId artifactGroupId
version pubVersion
}
}
}
}

15
simulation/lowfi_simulation/src/dev/native/cpp/main.cpp Normal file
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@@ -0,0 +1,15 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. 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 <iostream>
#include <HAL/HAL.h>
int main() {
std::cout << "Hello World" << std::endl;
std::cout << HAL_GetRuntimeType() << std::endl;
}

25
simulation/lowfi_simulation/src/main/native/cpp/LowFiSim/MotorEncoderConnector.cpp Normal file
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@@ -0,0 +1,25 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. 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 "LowFiSim/MotorEncoderConnector.h"
namespace frc {
namespace sim {
namespace lowfi {
MotorEncoderConnector::MotorEncoderConnector(MotorSim& motorController,
EncoderSim& encoder)
: motorSimulator(motorController), encoderSimulator(encoder) {}
void MotorEncoderConnector::Update() {
encoderSimulator.SetPosition(motorSimulator.GetPosition());
encoderSimulator.SetVelocity(motorSimulator.GetVelocity());
}
} // namespace lowfi
} // namespace sim
} // namespace frc

40
simulation/lowfi_simulation/src/main/native/cpp/LowFiSim/MotorModel/SimpleMotorModel.cpp Normal file
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@@ -0,0 +1,40 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. 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 "LowFiSim/MotorModel/SimpleMotorModel.h"
namespace frc {
namespace sim {
namespace lowfi {
SimpleMotorModel::SimpleMotorModel(double maxSpeed) : m_maxSpeed(maxSpeed) {}
void SimpleMotorModel::Reset() {
m_position = 0;
m_velocity = 0;
}
void SimpleMotorModel::SetVoltage(double voltage) {
m_voltagePercentage = voltage / kMaxExpectedVoltage;
}
void SimpleMotorModel::Update(double elapsedTime) {
m_velocity = m_maxSpeed * m_voltagePercentage;
m_position += m_velocity * elapsedTime;
}
double SimpleMotorModel::GetPosition() const { return m_position; }
double SimpleMotorModel::GetVelocity() const { return m_velocity; }
double SimpleMotorModel::GetAcceleration() const { return 0; }
double SimpleMotorModel::GetCurrent() const { return 0; }
} // namespace lowfi
} // namespace sim
} // namespace frc

27
simulation/lowfi_simulation/src/main/native/cpp/LowFiSim/WpiSimulators/WpiEncoderSim.cpp Normal file
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@@ -0,0 +1,27 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. 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 "LowFiSim/WpiSimulators/WpiEncoderSim.h"
namespace frc {
namespace sim {
namespace lowfi {
WpiEncoderSim::WpiEncoderSim(int index) : m_encoderSimulator(index) {}
void WpiEncoderSim::SetPosition(double position) {
m_encoderSimulator.SetCount(
static_cast<int>(position / m_encoderSimulator.GetDistancePerPulse()));
}
void WpiEncoderSim::SetVelocity(double velocity) {
m_encoderSimulator.SetPeriod(1.0 / velocity);
}
} // namespace lowfi
} // namespace sim
} // namespace frc

37
simulation/lowfi_simulation/src/main/native/cpp/LowFiSim/WpiSimulators/WpiMotorSim.cpp Normal file
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@@ -0,0 +1,37 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. 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 "LowFiSim/WpiSimulators/WpiMotorSim.h"
namespace frc {
namespace sim {
namespace lowfi {
WpiMotorSim::WpiMotorSim(int index, MotorModel& motorModelSimulator)
: m_motorModelSimulation(motorModelSimulator), m_pwmSimulator(index) {}
void WpiMotorSim::Update(double elapsedTime) {
m_motorModelSimulation.SetVoltage(m_pwmSimulator.GetSpeed() *
kDefaultVoltage);
m_motorModelSimulation.Update(elapsedTime);
}
double WpiMotorSim::GetPosition() const {
return m_motorModelSimulation.GetPosition();
}
double WpiMotorSim::GetVelocity() const {
return m_motorModelSimulation.GetVelocity();
}
double WpiMotorSim::GetAcceleration() const {
return m_motorModelSimulation.GetAcceleration();
}
} // namespace lowfi
} // namespace sim
} // namespace frc

22
simulation/lowfi_simulation/src/main/native/include/LowFiSim/EncoderSim.h Normal file
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@@ -0,0 +1,22 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. 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. */
/*----------------------------------------------------------------------------*/
#pragma once
namespace frc {
namespace sim {
namespace lowfi {
class EncoderSim {
public:
virtual void SetPosition(double position) = 0;
virtual void SetVelocity(double velocity) = 0;
};
} // namespace lowfi
} // namespace sim
} // namespace frc

30
simulation/lowfi_simulation/src/main/native/include/LowFiSim/MotorEncoderConnector.h Normal file
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@@ -0,0 +1,30 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "EncoderSim.h"
#include "MotorSim.h"
namespace frc {
namespace sim {
namespace lowfi {
class MotorEncoderConnector {
public:
MotorEncoderConnector(MotorSim& motorController, EncoderSim& encoder);
void Update();
private:
MotorSim& motorSimulator;
EncoderSim& encoderSimulator;
};
} // namespace lowfi
} // namespace sim
} // namespace frc

28
simulation/lowfi_simulation/src/main/native/include/LowFiSim/MotorModel/MotorModel.h Normal file
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@@ -0,0 +1,28 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. 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. */
/*----------------------------------------------------------------------------*/
#pragma once
namespace frc {
namespace sim {
namespace lowfi {
class MotorModel {
public:
virtual void Reset() = 0;
virtual void SetVoltage(double voltage) = 0;
virtual void Update(double elapsedTime) = 0;
virtual double GetPosition() const = 0;
virtual double GetVelocity() const = 0;
virtual double GetAcceleration() const = 0;
virtual double GetCurrent() const = 0;
};
} // namespace lowfi
} // namespace sim
} // namespace frc

40
simulation/lowfi_simulation/src/main/native/include/LowFiSim/MotorModel/SimpleMotorModel.h Normal file
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@@ -0,0 +1,40 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "LowFiSim/MotorModel/MotorModel.h"
namespace frc {
namespace sim {
namespace lowfi {
class SimpleMotorModel : public MotorModel {
public:
explicit SimpleMotorModel(double maxSpeed);
void Reset() override;
void SetVoltage(double voltage) override;
void Update(double elapsedTime) override;
double GetPosition() const override;
double GetVelocity() const override;
double GetAcceleration() const override;
double GetCurrent() const override;
protected:
double m_maxSpeed;
double m_voltagePercentage{0};
double m_position{0};
double m_velocity{0};
static constexpr double kMaxExpectedVoltage = 12;
};
} // namespace lowfi
} // namespace sim
} // namespace frc

23
simulation/lowfi_simulation/src/main/native/include/LowFiSim/MotorSim.h Normal file
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@@ -0,0 +1,23 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. 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. */
/*----------------------------------------------------------------------------*/
#pragma once
namespace frc {
namespace sim {
namespace lowfi {
class MotorSim {
public:
virtual double GetPosition() const = 0;
virtual double GetVelocity() const = 0;
virtual double GetAcceleration() const = 0;
};
} // namespace lowfi
} // namespace sim
} // namespace frc

30
simulation/lowfi_simulation/src/main/native/include/LowFiSim/WpiSimulators/WpiEncoderSim.h Normal file
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@@ -0,0 +1,30 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "LowFiSim/EncoderSim.h"
#include "Simulation/EncoderSim.h"
namespace frc {
namespace sim {
namespace lowfi {
class WpiEncoderSim : public EncoderSim {
public:
explicit WpiEncoderSim(int index);
void SetPosition(double position) override;
void SetVelocity(double velocity) override;
protected:
frc::sim::EncoderSim m_encoderSimulator;
};
} // namespace lowfi
} // namespace sim
} // namespace frc

36
simulation/lowfi_simulation/src/main/native/include/LowFiSim/WpiSimulators/WpiMotorSim.h Normal file
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@@ -0,0 +1,36 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "LowFiSim/MotorModel/MotorModel.h"
#include "LowFiSim/MotorSim.h"
#include "Simulation/PWMSim.h"
namespace frc {
namespace sim {
namespace lowfi {
class WpiMotorSim : public MotorSim {
public:
explicit WpiMotorSim(int index, MotorModel& motorModelSimulator);
void Update(double elapsedTime);
double GetPosition() const override;
double GetVelocity() const override;
double GetAcceleration() const override;
private:
MotorModel& m_motorModelSimulation;
frc::sim::PWMSim m_pwmSimulator;
static constexpr double kDefaultVoltage = 12.0;
};
} // namespace lowfi
} // namespace sim
} // namespace frc

106
simulation/lowfi_simulation/src/test/native/cpp/LowFiSim/MotorEncoderSimulatorTest.cpp Normal file
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@@ -0,0 +1,106 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. 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 "Encoder.h"
#include "LowFiSim/MotorEncoderConnector.h"
#include "LowFiSim/MotorModel/SimpleMotorModel.h"
#include "LowFiSim/WpiSimulators/WpiEncoderSim.h"
#include "LowFiSim/WpiSimulators/WpiMotorSim.h"
#include "Talon.h"
#include "gtest/gtest.h"
TEST(MotorEncoderConnectorTest, TestWithoutDistancePerPulseFullSpeed) {
frc::Talon talon{3};
frc::Encoder encoder{3, 1};
frc::sim::lowfi::SimpleMotorModel motorModelSim(6000);
frc::sim::lowfi::WpiMotorSim motorSim(3, motorModelSim);
frc::sim::lowfi::WpiEncoderSim encoderSim(0);
frc::sim::lowfi::MotorEncoderConnector connector(motorSim, encoderSim);
talon.Set(-1);
motorSim.Update(1);
connector.Update();
// Position
EXPECT_EQ(-6000, encoder.Get());
EXPECT_DOUBLE_EQ(-6000, encoder.GetDistance());
// Velocity
EXPECT_DOUBLE_EQ(-1.0 / 6000, encoder.GetPeriod());
EXPECT_DOUBLE_EQ(-6000, encoder.GetRate());
}
TEST(MotorEncoderConnectorTest, TestWithoutDistancePerPulseRealisitcUpdate) {
frc::Talon talon{3};
frc::Encoder encoder{3, 1};
frc::sim::lowfi::SimpleMotorModel motorModelSim(6000);
frc::sim::lowfi::WpiMotorSim motorSim(3, motorModelSim);
frc::sim::lowfi::WpiEncoderSim encoderSim(0);
frc::sim::lowfi::MotorEncoderConnector connector(motorSim, encoderSim);
talon.Set(0.5);
motorSim.Update(.02);
connector.Update();
// Position
EXPECT_EQ(60, encoder.Get());
EXPECT_DOUBLE_EQ(60, encoder.GetDistance());
// Velocity
EXPECT_DOUBLE_EQ(1.0 / 3000, encoder.GetPeriod());
EXPECT_DOUBLE_EQ(3000, encoder.GetRate());
}
TEST(MotorEncoderConnectorTest, TestWithDistancePerPulseFullSpeed) {
frc::Talon talon{3};
frc::Encoder encoder{3, 1};
encoder.SetDistancePerPulse(.001);
frc::sim::lowfi::SimpleMotorModel motorModelSim(6000);
frc::sim::lowfi::WpiMotorSim motorSim(3, motorModelSim);
frc::sim::lowfi::WpiEncoderSim encoderSim(0);
frc::sim::lowfi::MotorEncoderConnector connector(motorSim, encoderSim);
talon.Set(-1);
motorSim.Update(1);
connector.Update();
// Position
EXPECT_EQ(-6000000, encoder.Get());
EXPECT_DOUBLE_EQ(-6000, encoder.GetDistance());
// Velocity
EXPECT_EQ(-1.0 / 6000, encoder.GetPeriod());
EXPECT_DOUBLE_EQ(-6, encoder.GetRate());
}
TEST(MotorEncoderConnectorTest, TestWithDistancePerPulseRealistic) {
frc::Talon talon{3};
frc::Encoder encoder{3, 1};
encoder.SetDistancePerPulse(.001);
frc::sim::lowfi::SimpleMotorModel motorModelSim(6000);
frc::sim::lowfi::WpiMotorSim motorSim(3, motorModelSim);
frc::sim::lowfi::WpiEncoderSim encoderSim(0);
frc::sim::lowfi::MotorEncoderConnector connector(motorSim, encoderSim);
talon.Set(0.5);
motorSim.Update(.02);
connector.Update();
// Position
EXPECT_EQ(60000, encoder.Get());
EXPECT_DOUBLE_EQ(60, encoder.GetDistance());
// Velocity
EXPECT_EQ(1.0 / 3000, encoder.GetPeriod());
EXPECT_DOUBLE_EQ(3, encoder.GetRate());
}

33
simulation/lowfi_simulation/src/test/native/cpp/LowFiSim/MotorModel/SimpleMotorModelSimulationTest.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. 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 "LowFiSim/MotorModel/SimpleMotorModel.h"
#include "gtest/gtest.h"
TEST(SimpleMotorModelSimulationTest, TestSimpleModel) {
frc::sim::lowfi::SimpleMotorModel motorModelSim(200);
// Test forward voltage
motorModelSim.SetVoltage(6);
motorModelSim.Update(.5);
EXPECT_DOUBLE_EQ(50, motorModelSim.GetPosition());
EXPECT_DOUBLE_EQ(100, motorModelSim.GetVelocity());
// Test Reset
motorModelSim.Reset();
EXPECT_DOUBLE_EQ(0, motorModelSim.GetPosition());
EXPECT_DOUBLE_EQ(0, motorModelSim.GetVelocity());
// Test negative voltage
motorModelSim.Reset();
motorModelSim.SetVoltage(-3);
motorModelSim.Update(.06);
EXPECT_DOUBLE_EQ(-3, motorModelSim.GetPosition());
EXPECT_DOUBLE_EQ(-50, motorModelSim.GetVelocity());
}

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simulation/lowfi_simulation/src/test/native/cpp/main.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2015-2018 FIRST. 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 "gtest/gtest.h"
int main(int argc, char** argv) {
::testing::InitGoogleTest(&argc, argv);
int ret = RUN_ALL_TESTS();
return ret;
}