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More CANJaguar integration tests

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Change-Id: I92e6bb7ee0e7d43c1468650e2c69bb8f46a0154d
This commit is contained in:
thomasclark
2014-07-16 14:13:29 -04:00
parent f566c087dc
commit 968b69d37d
2 changed files with 128 additions and 58 deletions
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4
cmake/run-cpp-tests.sh
View File

@@ -6,11 +6,11 @@ if [ $(which sshpass) ]
then
sshpass -p "" ssh admin@10.1.90.2 killall FRCUserProgram
sshpass -p "" scp target/cmake/wpilibc/wpilibC++IntegrationTests/FRCUserProgram admin@10.1.90.2:/home/admin
sshpass -p "" ssh admin@10.1.90.2 ./FRCUserProgram $*
sshpass -p "" ssh admin@10.1.90.2 ./FRCUserProgram --gtest_color=yes $*
else
ssh admin@10.1.90.2 killall FRCUserProgram
scp target/cmake/wpilibc/wpilibC++IntegrationTests/FRCUserProgram admin@10.1.90.2:/home/admin
ssh admin@10.1.90.2 ./FRCUserProgram $*
ssh admin@10.1.90.2 ./FRCUserProgram --gtest_color=yes $*
fi

182
wpilibc/wpilibC++IntegrationTests/src/CANJaguarTest.cpp
View File

@@ -9,20 +9,22 @@
#include "gtest/gtest.h"
#include "TestBench.h"
#include "NetworkCommunication/CANSessionMux.h"
static constexpr double kExpectedBusVoltage = 14.0;
static constexpr double kExpectedTemperature = 25.0;
static constexpr double kMotorTime = 0.5;
static constexpr double kEncoderSettlingTime = 1.0;
static constexpr double kEncoderPositionTolerance = 10.0/360.0; // +/-10 degrees
static constexpr double kEncoderPositionTolerance = 0.1;
static constexpr double kEncoderSpeedTolerance = 30.0;
static constexpr double kPotentiometerSettlingTime = 1.0;
static constexpr double kPotentiometerPositionTolerance = 10.0/360.0; // +/-10 degrees
static constexpr double kPotentiometerSettlingTime = 1.0;
static constexpr double kPotentiometerPositionTolerance = 0.1;
static constexpr double kCurrentTolerance = 0.1;
static constexpr double kVoltageTolerance = 0.1;
// TODO test coverage for CANJaguar
class CANJaguarTest : public testing::Test {
protected:
CANJaguar *m_jaguar;
@@ -51,6 +53,18 @@ protected:
delete m_fakeReverseLimit;
delete m_fakePotentiometer;
}
/**
* Calls CANJaguar::Set periodically 50 times to make sure everything is
* verified. This mimics a real robot program, where Set is presumably
* called in each iteration of the main loop.
*/
void SetJaguar(float totalTime, float value = 0.0f) {
for(int i = 0; i < 50; i++) {
m_jaguar->Set(value);
Wait(totalTime / 50.0);
}
}
};
/**
@@ -76,22 +90,36 @@ TEST_F(CANJaguarTest, InitialStatus) {
<< "Jaguar has one or more fault set.";
}
/**
* Test if we can set arbitrary setpoints and PID values each each applicable
* mode and get the same values back.
*/
TEST_F(CANJaguarTest, SetGet) {
m_jaguar->DisableControl();
m_jaguar->SetSpeedMode(CANJaguar::QuadEncoder, 360, 1, 2, 3);
m_jaguar->Set(4);
EXPECT_FLOAT_EQ(1, m_jaguar->GetP());
EXPECT_FLOAT_EQ(2, m_jaguar->GetI());
EXPECT_FLOAT_EQ(3, m_jaguar->GetD());
EXPECT_FLOAT_EQ(4, m_jaguar->Get());
}
/**
* Test if we can drive the motor in percentage mode and get a position back
*/
TEST_F(CANJaguarTest, PercentForwards) {
m_jaguar->SetPercentMode(CANJaguar::QuadEncoder, 360);
m_jaguar->EnableControl();
m_jaguar->Set(0.0f);
/* The motor might still have momentum from the previous test. */
Wait(kEncoderSettlingTime);
SetJaguar(kEncoderSettlingTime, 0.0f);
double initialPosition = m_jaguar->GetPosition();
/* Drive the speed controller briefly to move the encoder */
m_jaguar->Set(1.0f);
Wait(kMotorTime);
SetJaguar(kMotorTime, 1.0f);
m_jaguar->Set(0.0f);
/* The position should have increased */
@@ -106,38 +134,67 @@ TEST_F(CANJaguarTest, PercentForwards) {
TEST_F(CANJaguarTest, PercentReverse) {
m_jaguar->SetPercentMode(CANJaguar::QuadEncoder, 360);
m_jaguar->EnableControl();
m_jaguar->Set(0.0f);
/* The motor might still have momentum from the previous test. */
Wait(kEncoderSettlingTime);
SetJaguar(kEncoderSettlingTime, 0.0f);
double initialPosition = m_jaguar->GetPosition();
/* Drive the speed controller briefly to move the encoder */
m_jaguar->Set(-1.0f);
Wait(kMotorTime);
SetJaguar(kMotorTime, -1.0f);
m_jaguar->Set(0.0f);
float p = m_jaguar->GetPosition();
/* The position should have decreased */
EXPECT_LT(m_jaguar->GetPosition(), initialPosition)
EXPECT_LT(p, initialPosition)
<< "CAN Jaguar position should have decreased after the motor moved";
}
/**
* Test if we can set an absolute voltage and receive a matching output voltage
* status.
*/
TEST_F(CANJaguarTest, Voltage) {
m_jaguar->SetVoltageMode();
m_jaguar->EnableControl();
SetJaguar(kMotorTime, M_PI);
m_jaguar->Set(0.0f);
EXPECT_NEAR(M_PI, m_jaguar->GetOutputVoltage(), kVoltageTolerance);
SetJaguar(kMotorTime, 8.0f);
m_jaguar->Set(0.0f);
EXPECT_NEAR(8.0f, m_jaguar->GetOutputVoltage(), kVoltageTolerance);
}
/**
* Test if we can set a speed in speed control mode and receive a matching
* speed status.
*/
TEST_F(CANJaguarTest, SpeedPID) {
m_jaguar->SetSpeedMode(CANJaguar::QuadEncoder, 360, 0.1f, 0.003f, 0.01f);
m_jaguar->EnableControl();
constexpr float speed = 200.0f;
SetJaguar(kMotorTime, speed);
EXPECT_NEAR(speed, m_jaguar->GetSpeed(), kEncoderSpeedTolerance);
}
/**
* Test if we can set a position and reach that position with PID control on
* the Jaguar.
*/
TEST_F(CANJaguarTest, EncoderPositionPID) {
m_jaguar->SetPositionMode(CANJaguar::QuadEncoder, 360, 10.0f, 0.4f, 0.2f);
m_jaguar->EnableControl();
m_jaguar->SetPositionMode(CANJaguar::QuadEncoder, 360, 10.0f, 0.1f, 0.0f);
double setpoint = m_jaguar->GetPosition() + 10.0f;
m_jaguar->EnableControl();
/* It should get to the setpoint within 10 seconds */
for(int i = 0; i < 10; i++) {
m_jaguar->Set(setpoint);
Wait(1.0f);
SetJaguar(1.0f, setpoint);
if(std::abs(m_jaguar->GetPosition() - setpoint) <= kEncoderPositionTolerance) {
return;
@@ -148,6 +205,41 @@ TEST_F(CANJaguarTest, EncoderPositionPID) {
<< "CAN Jaguar should have reached setpoint with PID control";
}
/**
* Test if we can set a current setpoint with PID control on the Jaguar and get
* a corresponding output current
*/
TEST_F(CANJaguarTest, CurrentPID) {
m_jaguar->SetCurrentMode(10.0, 4.0, 1.0);
m_jaguar->EnableControl();
float setpoint = 1.6f;
/* It should get to the setpoint within 10 seconds */
for(int i = 0; i < 10; i++) {
SetJaguar(1.0, setpoint);
if(std::abs(m_jaguar->GetOutputCurrent() - setpoint) <= kCurrentTolerance) {
break;
}
}
EXPECT_NEAR(setpoint, m_jaguar->GetOutputCurrent(), kCurrentTolerance);
setpoint = 2.0f;
/* It should get to the setpoint within 10 seconds */
for(int i = 0; i < 10; i++) {
SetJaguar(1.0, setpoint);
if(std::abs(m_jaguar->GetOutputCurrent() - setpoint) <= kCurrentTolerance) {
break;
}
}
EXPECT_NEAR(setpoint, m_jaguar->GetOutputCurrent(), kCurrentTolerance);
}
/**
* Test if we can get a position in potentiometer mode, using an analog output
* as a fake potentiometer.
@@ -155,27 +247,17 @@ TEST_F(CANJaguarTest, EncoderPositionPID) {
TEST_F(CANJaguarTest, FakePotentiometerPosition) {
m_jaguar->SetPercentMode(CANJaguar::Potentiometer);
m_jaguar->EnableControl();
m_jaguar->Set(0.0f);
m_fakePotentiometer->SetVoltage(0.0f);
Wait(kPotentiometerSettlingTime);
EXPECT_NEAR(m_fakePotentiometer->GetVoltage() / 3.0f, m_jaguar->GetPosition(), kPotentiometerPositionTolerance)
<< "CAN Jaguar should have returned the potentiometer position set by the analog output";
// Set the analog output to 4 different voltages and check if the Jaguar
// returns corresponding positions.
for(int i = 0; i <= 3; i++) {
m_fakePotentiometer->SetVoltage(static_cast<float>(i));
m_fakePotentiometer->SetVoltage(1.0f);
Wait(kPotentiometerSettlingTime);
EXPECT_NEAR(m_fakePotentiometer->GetVoltage() / 3.0f, m_jaguar->GetPosition(), kPotentiometerPositionTolerance)
<< "CAN Jaguar should have returned the potentiometer position set by the analog output";
SetJaguar(kPotentiometerSettlingTime);
m_fakePotentiometer->SetVoltage(2.0f);
Wait(kPotentiometerSettlingTime);
EXPECT_NEAR(m_fakePotentiometer->GetVoltage() / 3.0f, m_jaguar->GetPosition(), kPotentiometerPositionTolerance)
<< "CAN Jaguar should have returned the potentiometer position set by the analog output";
m_fakePotentiometer->SetVoltage(3.0f);
Wait(kPotentiometerSettlingTime);
EXPECT_NEAR(m_fakePotentiometer->GetVoltage() / 3.0f, m_jaguar->GetPosition(), kPotentiometerPositionTolerance)
<< "CAN Jaguar should have returned the potentiometer position set by the analog output";
EXPECT_NEAR(m_fakePotentiometer->GetVoltage() / 3.0f, m_jaguar->GetPosition(), kPotentiometerPositionTolerance)
<< "CAN Jaguar should have returned the potentiometer position set by the analog output";
}
}
/**
@@ -189,8 +271,7 @@ TEST_F(CANJaguarTest, FakeLimitSwitchForwards) {
m_fakeReverseLimit->Set(0);
m_jaguar->EnableControl();
m_jaguar->Set(0.0f);
Wait(kEncoderSettlingTime);
SetJaguar(kEncoderSettlingTime);
/* Make sure the limits are recognized by the Jaguar. */
ASSERT_FALSE(m_jaguar->GetForwardLimitOK());
@@ -200,9 +281,7 @@ TEST_F(CANJaguarTest, FakeLimitSwitchForwards) {
/* Drive the speed controller briefly to move the encoder. If the limit
switch is recognized, it shouldn't actually move. */
m_jaguar->Set(1.0f);
Wait(kMotorTime);
m_jaguar->Set(0.0f);
SetJaguar(kMotorTime, 1.0f);
/* The position should be the same, since the limit switch was on. */
EXPECT_NEAR(initialPosition, m_jaguar->GetPosition(), kEncoderPositionTolerance)
@@ -210,9 +289,7 @@ TEST_F(CANJaguarTest, FakeLimitSwitchForwards) {
/* Drive the speed controller in the other direction. It should actually
move, since only the forward switch is activated.*/
m_jaguar->Set(-1.0f);
Wait(kMotorTime);
m_jaguar->Set(0.0f);
SetJaguar(kMotorTime, -1.0f);
/* The position should have decreased */
EXPECT_LT(m_jaguar->GetPosition(), initialPosition)
@@ -230,8 +307,7 @@ TEST_F(CANJaguarTest, FakeLimitSwitchReverse) {
m_fakeReverseLimit->Set(1);
m_jaguar->EnableControl();
m_jaguar->Set(0.0f);
Wait(kEncoderSettlingTime);
SetJaguar(kEncoderSettlingTime);
/* Make sure the limits are recognized by the Jaguar. */
ASSERT_TRUE(m_jaguar->GetForwardLimitOK());
@@ -241,21 +317,15 @@ TEST_F(CANJaguarTest, FakeLimitSwitchReverse) {
/* Drive the speed controller backwards briefly to move the encoder. If
the limit switch is recognized, it shouldn't actually move. */
m_jaguar->Set(-1.0f);
Wait(kMotorTime);
m_jaguar->Set(0.0f);
SetJaguar(kMotorTime, -1.0f);
/* The position should be the same, since the limit switch was on. */
EXPECT_NEAR(initialPosition, m_jaguar->GetPosition(), kEncoderPositionTolerance)
<< "CAN Jaguar should not have moved with the limit switch pressed";
Wait(kEncoderSettlingTime);
/* Drive the speed controller in the other direction. It should actually
move, since only the reverse switch is activated.*/
m_jaguar->Set(1.0f);
Wait(kMotorTime);
m_jaguar->Set(0.0f);
SetJaguar(kMotorTime, 1.0f);
/* The position should have increased */
EXPECT_GT(m_jaguar->GetPosition(), initialPosition)