New 2018 and later build setup (#1001)

wpilibcIntegrationTests/src/main/native/cpp/MotorEncoderTest.cpp

@@ -0,0 +1,193 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2018 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 "Filters/LinearDigitalFilter.h"
+#include "Jaguar.h"
+#include "PIDController.h"
+#include "Talon.h"
+#include "TestBench.h"
+#include "Timer.h"
+#include "Victor.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+enum MotorEncoderTestType { TEST_VICTOR, TEST_JAGUAR, TEST_TALON };
+
+std::ostream& operator<<(std::ostream& os, MotorEncoderTestType const& type) {
+  switch (type) {
+    case TEST_VICTOR:
+      os << "Victor";
+      break;
+    case TEST_JAGUAR:
+      os << "Jaguar";
+      break;
+    case TEST_TALON:
+      os << "Talon";
+      break;
+  }
+
+  return os;
+}
+
+static constexpr double kMotorTime = 0.5;
+
+/**
+ * A fixture that includes a PWM speed controller and an encoder connected to
+ * the same motor.
+ */
+class MotorEncoderTest : public testing::TestWithParam<MotorEncoderTestType> {
+ protected:
+  SpeedController* m_speedController;
+  Encoder* m_encoder;
+  LinearDigitalFilter* m_filter;
+
+  void SetUp() override {
+    switch (GetParam()) {
+      case TEST_VICTOR:
+        m_speedController = new Victor(TestBench::kVictorChannel);
+        m_encoder = new Encoder(TestBench::kVictorEncoderChannelA,
+                                TestBench::kVictorEncoderChannelB);
+        break;
+
+      case TEST_JAGUAR:
+        m_speedController = new Jaguar(TestBench::kJaguarChannel);
+        m_encoder = new Encoder(TestBench::kJaguarEncoderChannelA,
+                                TestBench::kJaguarEncoderChannelB);
+        break;
+
+      case TEST_TALON:
+        m_speedController = new Talon(TestBench::kTalonChannel);
+        m_encoder = new Encoder(TestBench::kTalonEncoderChannelA,
+                                TestBench::kTalonEncoderChannelB);
+        break;
+    }
+    m_filter = new LinearDigitalFilter(
+        LinearDigitalFilter::MovingAverage(*m_encoder, 50));
+  }
+
+  void TearDown() override {
+    delete m_speedController;
+    delete m_encoder;
+    delete m_filter;
+  }
+
+  void Reset() {
+    m_speedController->Set(0.0);
+    m_encoder->Reset();
+    m_filter->Reset();
+  }
+};
+
+/**
+ * Test if the encoder value increments after the motor drives forward
+ */
+TEST_P(MotorEncoderTest, Increment) {
+  Reset();
+
+  /* Drive the speed controller briefly to move the encoder */
+  m_speedController->Set(0.2f);
+  Wait(kMotorTime);
+  m_speedController->Set(0.0);
+
+  /* The encoder should be positive now */
+  EXPECT_GT(m_encoder->Get(), 0)
+      << "Encoder should have incremented after the motor moved";
+}
+
+/**
+ * Test if the encoder value decrements after the motor drives backwards
+ */
+TEST_P(MotorEncoderTest, Decrement) {
+  Reset();
+
+  /* Drive the speed controller briefly to move the encoder */
+  m_speedController->Set(-0.2);
+  Wait(kMotorTime);
+  m_speedController->Set(0.0);
+
+  /* The encoder should be positive now */
+  EXPECT_LT(m_encoder->Get(), 0.0)
+      << "Encoder should have decremented after the motor moved";
+}
+
+/**
+ * Test if motor speeds are clamped to [-1,1]
+ */
+TEST_P(MotorEncoderTest, ClampSpeed) {
+  Reset();
+
+  m_speedController->Set(2.0);
+  Wait(kMotorTime);
+
+  EXPECT_FLOAT_EQ(1.0, m_speedController->Get());
+
+  m_speedController->Set(-2.0);
+  Wait(kMotorTime);
+
+  EXPECT_FLOAT_EQ(-1.0, m_speedController->Get());
+}
+
+/**
+ * Test if position PID loop works
+ */
+TEST_P(MotorEncoderTest, PositionPIDController) {
+  Reset();
+  double goal = 1000;
+  m_encoder->SetPIDSourceType(PIDSourceType::kDisplacement);
+  PIDController pid(0.001, 0.0005, 0.0, m_encoder, m_speedController);
+  pid.SetAbsoluteTolerance(50.0);
+  pid.SetOutputRange(-0.2, 0.2);
+  pid.SetSetpoint(goal);
+
+  /* 10 seconds should be plenty time to get to the setpoint */
+  pid.Enable();
+  Wait(10.0);
+  pid.Disable();
+
+  RecordProperty("PIDError", pid.GetError());
+
+  EXPECT_TRUE(pid.OnTarget())
+      << "PID loop did not converge within 10 seconds. Goal was: " << goal
+      << " Error was: " << pid.GetError();
+}
+
+/**
+ * Test if velocity PID loop works
+ */
+TEST_P(MotorEncoderTest, VelocityPIDController) {
+  Reset();
+
+  m_encoder->SetPIDSourceType(PIDSourceType::kRate);
+  PIDController pid(1e-5, 0.0, 3e-5, 8e-5, m_filter, m_speedController);
+  pid.SetAbsoluteTolerance(200.0);
+  pid.SetOutputRange(-0.3, 0.3);
+  pid.SetSetpoint(600);
+
+  /* 10 seconds should be plenty time to get to the setpoint */
+  pid.Enable();
+  Wait(10.0);
+  pid.Disable();
+  RecordProperty("PIDError", pid.GetError());
+
+  EXPECT_TRUE(pid.OnTarget())
+      << "PID loop did not converge within 10 seconds. Goal was: " << 600
+      << " Error was: " << pid.GetError();
+}
+
+/**
+ * Test resetting encoders
+ */
+TEST_P(MotorEncoderTest, Reset) {
+  Reset();
+
+  EXPECT_EQ(0, m_encoder->Get()) << "Encoder did not reset to 0";
+}
+
+INSTANTIATE_TEST_CASE_P(Test, MotorEncoderTest,
+                        testing::Values(TEST_VICTOR, TEST_JAGUAR, TEST_TALON),);