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Major formatting changes (breaks diffs). No code changes.

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The changes made in this commit do not affect any actual code,
    they are purely aesthetic. I ran clang-format with google style
    over all .h/.cpp files in wpilibc that weren't in wpilibC++Sim
    or gtest, and the eclipse formatter over all of the Java files
    using the Google eclipse formatting configuration.

Change-Id: I9627bca0bc103c398ecc1c5ba17467193291ae63
This commit is contained in:
James Kuszmaul
2015-06-25 15:07:55 -04:00
parent bd64d9a7ef
commit 7eb8550bdb
470 changed files with 89798 additions and 77287 deletions
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176
wpilibc/wpilibC++IntegrationTests/src/FakeEncoderTest.cpp
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@@ -1,6 +1,7 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2014. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* 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. */
/*----------------------------------------------------------------------------*/
@@ -12,139 +13,144 @@
static const double kDelayTime = 0.001;
class FakeEncoderTest : public testing::Test {
protected:
DigitalOutput *m_outputA;
DigitalOutput *m_outputB;
AnalogOutput *m_indexOutput;
protected:
DigitalOutput *m_outputA;
DigitalOutput *m_outputB;
AnalogOutput *m_indexOutput;
Encoder *m_encoder;
AnalogTrigger *m_indexAnalogTrigger;
AnalogTriggerOutput *m_indexAnalogTriggerOutput;
Encoder *m_encoder;
AnalogTrigger *m_indexAnalogTrigger;
AnalogTriggerOutput *m_indexAnalogTriggerOutput;
virtual void SetUp() override {
m_outputA = new DigitalOutput(TestBench::kLoop2OutputChannel);
m_outputB = new DigitalOutput(TestBench::kLoop1OutputChannel);
m_indexOutput = new AnalogOutput(TestBench::kAnalogOutputChannel);
m_outputA->Set(false);
m_outputB->Set(false);
m_encoder = new Encoder(TestBench::kLoop1InputChannel, TestBench::kLoop2InputChannel);
m_indexAnalogTrigger = new AnalogTrigger(TestBench::kFakeAnalogOutputChannel);
m_indexAnalogTrigger->SetLimitsVoltage(2.0, 3.0);
m_indexAnalogTriggerOutput = m_indexAnalogTrigger->CreateOutput(AnalogTriggerType::kState);
}
virtual void SetUp() override {
m_outputA = new DigitalOutput(TestBench::kLoop2OutputChannel);
m_outputB = new DigitalOutput(TestBench::kLoop1OutputChannel);
m_indexOutput = new AnalogOutput(TestBench::kAnalogOutputChannel);
m_outputA->Set(false);
m_outputB->Set(false);
m_encoder = new Encoder(TestBench::kLoop1InputChannel,
TestBench::kLoop2InputChannel);
m_indexAnalogTrigger =
new AnalogTrigger(TestBench::kFakeAnalogOutputChannel);
m_indexAnalogTrigger->SetLimitsVoltage(2.0, 3.0);
m_indexAnalogTriggerOutput =
m_indexAnalogTrigger->CreateOutput(AnalogTriggerType::kState);
}
virtual void TearDown() override {
delete m_outputA;
delete m_outputB;
delete m_indexOutput;
delete m_encoder;
delete m_indexAnalogTrigger;
delete m_indexAnalogTriggerOutput;
}
virtual void TearDown() override {
delete m_outputA;
delete m_outputB;
delete m_indexOutput;
delete m_encoder;
delete m_indexAnalogTrigger;
delete m_indexAnalogTriggerOutput;
}
/**
* Output pulses to the encoder's input channels to simulate a change of 100 ticks
*/
void Simulate100QuadratureTicks() {
for(int i = 0; i < 100; i++) {
m_outputA->Set(true);
Wait(kDelayTime);
m_outputB->Set(true);
Wait(kDelayTime);
m_outputA->Set(false);
Wait(kDelayTime);
m_outputB->Set(false);
Wait(kDelayTime);
}
}
/**
* Output pulses to the encoder's input channels to simulate a change of 100
* ticks
*/
void Simulate100QuadratureTicks() {
for (int i = 0; i < 100; i++) {
m_outputA->Set(true);
Wait(kDelayTime);
m_outputB->Set(true);
Wait(kDelayTime);
m_outputA->Set(false);
Wait(kDelayTime);
m_outputB->Set(false);
Wait(kDelayTime);
}
}
void SetIndexHigh() {
m_indexOutput->SetVoltage(5.0);
Wait(kDelayTime);
}
void SetIndexHigh() {
m_indexOutput->SetVoltage(5.0);
Wait(kDelayTime);
}
void SetIndexLow() {
m_indexOutput->SetVoltage(0.0);
Wait(kDelayTime);
}
void SetIndexLow() {
m_indexOutput->SetVoltage(0.0);
Wait(kDelayTime);
}
};
/**
* Test the encoder by reseting it to 0 and reading the value.
*/
TEST_F(FakeEncoderTest, TestDefaultState) {
EXPECT_FLOAT_EQ(0.0f, m_encoder->Get())
<< "The encoder did not start at 0.";
EXPECT_FLOAT_EQ(0.0f, m_encoder->Get()) << "The encoder did not start at 0.";
}
/**
* Test the encoder by setting the digital outputs and reading the value.
*/
TEST_F(FakeEncoderTest, TestCountUp) {
m_encoder->Reset();
Simulate100QuadratureTicks();
m_encoder->Reset();
Simulate100QuadratureTicks();
EXPECT_FLOAT_EQ(100.0f, m_encoder->Get())
<< "Encoder did not count to 100.";
EXPECT_FLOAT_EQ(100.0f, m_encoder->Get()) << "Encoder did not count to 100.";
}
/**
* Test that the encoder can stay reset while the index source is high
*/
TEST_F(FakeEncoderTest, TestResetWhileHigh) {
m_encoder->SetIndexSource(m_indexAnalogTriggerOutput, Encoder::IndexingType::kResetWhileHigh);
m_encoder->SetIndexSource(m_indexAnalogTriggerOutput,
Encoder::IndexingType::kResetWhileHigh);
SetIndexLow();
Simulate100QuadratureTicks();
SetIndexHigh();
EXPECT_EQ(0, m_encoder->Get());
SetIndexLow();
Simulate100QuadratureTicks();
SetIndexHigh();
EXPECT_EQ(0, m_encoder->Get());
Simulate100QuadratureTicks();
EXPECT_EQ(0, m_encoder->Get());
Simulate100QuadratureTicks();
EXPECT_EQ(0, m_encoder->Get());
}
/**
* Test that the encoder can reset when the index source goes from low to high
*/
TEST_F(FakeEncoderTest, TestResetOnRisingEdge) {
m_encoder->SetIndexSource(m_indexAnalogTriggerOutput, Encoder::IndexingType::kResetOnRisingEdge);
m_encoder->SetIndexSource(m_indexAnalogTriggerOutput,
Encoder::IndexingType::kResetOnRisingEdge);
SetIndexLow();
Simulate100QuadratureTicks();
SetIndexHigh();
EXPECT_EQ(0, m_encoder->Get());
SetIndexLow();
Simulate100QuadratureTicks();
SetIndexHigh();
EXPECT_EQ(0, m_encoder->Get());
Simulate100QuadratureTicks();
EXPECT_EQ(100, m_encoder->Get());
Simulate100QuadratureTicks();
EXPECT_EQ(100, m_encoder->Get());
}
/**
* Test that the encoder can stay reset while the index source is low
*/
TEST_F(FakeEncoderTest, TestResetWhileLow) {
m_encoder->SetIndexSource(m_indexAnalogTriggerOutput, Encoder::IndexingType::kResetWhileLow);
m_encoder->SetIndexSource(m_indexAnalogTriggerOutput,
Encoder::IndexingType::kResetWhileLow);
SetIndexHigh();
Simulate100QuadratureTicks();
SetIndexLow();
EXPECT_EQ(0, m_encoder->Get());
SetIndexHigh();
Simulate100QuadratureTicks();
SetIndexLow();
EXPECT_EQ(0, m_encoder->Get());
Simulate100QuadratureTicks();
EXPECT_EQ(0, m_encoder->Get());
Simulate100QuadratureTicks();
EXPECT_EQ(0, m_encoder->Get());
}
/**
* Test that the encoder can reset when the index source goes from high to low
*/
TEST_F(FakeEncoderTest, TestResetOnFallingEdge) {
m_encoder->SetIndexSource(m_indexAnalogTriggerOutput, Encoder::IndexingType::kResetOnFallingEdge);
m_encoder->SetIndexSource(m_indexAnalogTriggerOutput,
Encoder::IndexingType::kResetOnFallingEdge);
SetIndexHigh();
Simulate100QuadratureTicks();
SetIndexLow();
EXPECT_EQ(0, m_encoder->Get());
SetIndexHigh();
Simulate100QuadratureTicks();
SetIndexLow();
EXPECT_EQ(0, m_encoder->Get());
Simulate100QuadratureTicks();
EXPECT_EQ(100, m_encoder->Get());
Simulate100QuadratureTicks();
EXPECT_EQ(100, m_encoder->Get());
}