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[wpilibc] Clean up integration tests (#3400)

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The command and shuffleboard integration tests were removed because
their unit tests counterparts already provide adequate coverage. Java
already removed these.
This commit is contained in:
Tyler Veness
2021-05-31 10:21:34 -07:00
committed by GitHub
parent 4f7a4464df
commit 93523d572e
38 changed files with 662 additions and 2232 deletions
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50
wpilibcIntegrationTests/src/main/native/cpp/MotorEncoderTest.cpp
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@@ -17,8 +17,6 @@
#include "frc/motorcontrol/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) {
@@ -45,38 +43,38 @@ static constexpr auto kMotorTime = 0.5_s;
*/
class MotorEncoderTest : public testing::TestWithParam<MotorEncoderTestType> {
protected:
MotorController* m_motorController;
Encoder* m_encoder;
LinearFilter<double>* m_filter;
frc::MotorController* m_motorController;
frc::Encoder* m_encoder;
frc::LinearFilter<double>* m_filter;
void SetUp() override {
MotorEncoderTest() {
switch (GetParam()) {
case TEST_VICTOR:
m_motorController = new Victor(TestBench::kVictorChannel);
m_encoder = new Encoder(TestBench::kVictorEncoderChannelA,
TestBench::kVictorEncoderChannelB);
m_motorController = new frc::Victor(TestBench::kVictorChannel);
m_encoder = new frc::Encoder(TestBench::kVictorEncoderChannelA,
TestBench::kVictorEncoderChannelB);
break;
case TEST_JAGUAR:
m_motorController = new Jaguar(TestBench::kJaguarChannel);
m_encoder = new Encoder(TestBench::kJaguarEncoderChannelA,
TestBench::kJaguarEncoderChannelB);
m_motorController = new frc::Jaguar(TestBench::kJaguarChannel);
m_encoder = new frc::Encoder(TestBench::kJaguarEncoderChannelA,
TestBench::kJaguarEncoderChannelB);
break;
case TEST_TALON:
m_motorController = new Talon(TestBench::kTalonChannel);
m_encoder = new Encoder(TestBench::kTalonEncoderChannelA,
TestBench::kTalonEncoderChannelB);
m_motorController = new frc::Talon(TestBench::kTalonChannel);
m_encoder = new frc::Encoder(TestBench::kTalonEncoderChannelA,
TestBench::kTalonEncoderChannelB);
break;
}
m_filter =
new LinearFilter<double>(LinearFilter<double>::MovingAverage(50));
m_filter = new frc::LinearFilter<double>(
frc::LinearFilter<double>::MovingAverage(50));
}
void TearDown() override {
delete m_motorController;
delete m_encoder;
~MotorEncoderTest() {
delete m_filter;
delete m_encoder;
delete m_motorController;
}
void Reset() {
@@ -94,7 +92,7 @@ TEST_P(MotorEncoderTest, Increment) {
/* Drive the motor controller briefly to move the encoder */
m_motorController->Set(0.2f);
Wait(kMotorTime);
frc::Wait(kMotorTime);
m_motorController->Set(0.0);
/* The encoder should be positive now */
@@ -110,7 +108,7 @@ TEST_P(MotorEncoderTest, Decrement) {
/* Drive the motor controller briefly to move the encoder */
m_motorController->Set(-0.2);
Wait(kMotorTime);
frc::Wait(kMotorTime);
m_motorController->Set(0.0);
/* The encoder should be positive now */
@@ -125,12 +123,12 @@ TEST_P(MotorEncoderTest, ClampSpeed) {
Reset();
m_motorController->Set(2.0);
Wait(kMotorTime);
frc::Wait(kMotorTime);
EXPECT_FLOAT_EQ(1.0, m_motorController->Get());
m_motorController->Set(-2.0);
Wait(kMotorTime);
frc::Wait(kMotorTime);
EXPECT_FLOAT_EQ(-1.0, m_motorController->Get());
}
@@ -152,7 +150,7 @@ TEST_P(MotorEncoderTest, PositionPIDController) {
m_motorController->Set(std::clamp(speed, -0.2, 0.2));
}};
pidRunner.StartPeriodic(pidController.GetPeriod());
Wait(10_s);
frc::Wait(10_s);
pidRunner.Stop();
RecordProperty("PIDError", pidController.GetPositionError());
@@ -179,7 +177,7 @@ TEST_P(MotorEncoderTest, VelocityPIDController) {
m_motorController->Set(std::clamp(speed, -0.3, 0.3));
}};
pidRunner.StartPeriodic(pidController.GetPeriod());
Wait(10_s);
frc::Wait(10_s);
pidRunner.Stop();
RecordProperty("PIDError", pidController.GetPositionError());