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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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106
simulation/lowfi_simulation/src/test/native/cpp/LowFiSim/MotorEncoderSimulatorTest.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 "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());
}

14
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;
}