diff --git a/wpilibc/wpilibC++IntegrationTests/src/CANJaguarTest.cpp b/wpilibc/wpilibC++IntegrationTests/src/CANJaguarTest.cpp index 33bed1c1ab..11ece4a48a 100644 --- a/wpilibc/wpilibC++IntegrationTests/src/CANJaguarTest.cpp +++ b/wpilibc/wpilibC++IntegrationTests/src/CANJaguarTest.cpp @@ -274,7 +274,7 @@ TEST_F(CANJaguarTest, SpeedModeWorks) { m_jaguar->SetSpeedMode(CANJaguar::QuadEncoder, 360, 0.1f, 0.003f, 0.01f); m_jaguar->EnableControl(); - constexpr float speed = 100.0f; + constexpr float speed = 60.0f; SetJaguar(kMotorTime, speed); EXPECT_NEAR(speed, m_jaguar->GetSpeed(), kEncoderSpeedTolerance); diff --git a/wpilibc/wpilibC++IntegrationTests/src/TiltPanCameraTest.cpp b/wpilibc/wpilibC++IntegrationTests/src/TiltPanCameraTest.cpp index 5bd56b8c4a..8da164756b 100644 --- a/wpilibc/wpilibC++IntegrationTests/src/TiltPanCameraTest.cpp +++ b/wpilibc/wpilibC++IntegrationTests/src/TiltPanCameraTest.cpp @@ -11,7 +11,7 @@ static constexpr double kServoResetTime = 2.0; -static constexpr double kTestAngle = 180.0; +static constexpr double kTestAngle = 90.0; static constexpr double kTiltSetpoint0 = 0.22; static constexpr double kTiltSetpoint45 = 0.45; @@ -45,7 +45,7 @@ protected: m_pan = new Servo(TestBench::kCameraPanChannel); m_spiAccel = new ADXL345_SPI(SPI::kOnboardCS0); - m_tilt->SetAngle(90.0f); + m_tilt->Set(kTiltSetpoint45); m_pan->SetAngle(0.0f); Wait(kServoResetTime); @@ -78,8 +78,8 @@ TEST_F(TiltPanCameraTest, GyroAngle) { Wait(0.25); m_gyro->Reset(); - for(int i = 0; i < 1800; i++) { - m_pan->SetAngle(i / 10.0); + for(int i = 0; i < 600; i++) { + m_pan->Set(i / 1000.0); Wait(0.001); } diff --git a/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/GyroTest.java b/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/GyroTest.java index 45cd063ced..7048c0d321 100644 --- a/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/GyroTest.java +++ b/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/GyroTest.java @@ -66,9 +66,9 @@ public class GyroTest extends AbstractComsSetup { //Reset for setup tpcam.getGyro().reset(); Timer.delay(0.5); - + //Perform test - for(int i = 450; i < 1350; i++) { + for(int i = 450; i < 1420; i++) { tpcam.getPan().setAngle(i / 10.0); Timer.delay(0.005); } diff --git a/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANPositionQuadEncoderModeTest.java b/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANPositionQuadEncoderModeTest.java index 732061a68f..cfeda612b2 100644 --- a/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANPositionQuadEncoderModeTest.java +++ b/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANPositionQuadEncoderModeTest.java @@ -28,7 +28,7 @@ public class CANPositionQuadEncoderModeTest extends AbstractCANTest { protected Logger getClassLogger() { return logger; } - + /* (non-Javadoc) * @see edu.wpi.first.wpilibj.can.AbstractCANTest#runMotorForward() @@ -46,16 +46,16 @@ public class CANPositionQuadEncoderModeTest extends AbstractCANTest { double postion = getME().getMotor().getPosition(); getME().getMotor().set(postion - 100); } - - + + @Before public void setUp() throws Exception { - getME().getMotor().setPositionMode(CANJaguar.kQuadEncoder, 360, 10.0f, 0.1f, 0.0f); + getME().getMotor().setPositionMode(CANJaguar.kQuadEncoder, 360, 10.0f, 0.01f, 0.0f); getME().getMotor().enableControl(0); /* The motor might still have momentum from the previous test. */ Timer.delay(kStartupTime); } - + @Ignore("The encoder initial position is not validated so is sometimes not set properly") @Test public void testSetEncoderInitialPositionWithEnable(){ @@ -73,15 +73,15 @@ public class CANPositionQuadEncoderModeTest extends AbstractCANTest { //then assertEquals(encoderValue, getME().getMotor().getPosition(), 40); } - + /** * Test if we can set a position and reach that position with PID control on * the Jaguar. */ @Test public void testEncoderPositionPIDForward() { - - double setpoint = getME().getMotor().getPosition() + 10.0f; + + double setpoint = getME().getMotor().getPosition() + 1.0f; /* It should get to the setpoint within 10 seconds */ getME().getMotor().set(setpoint); @@ -89,15 +89,15 @@ public class CANPositionQuadEncoderModeTest extends AbstractCANTest { assertEquals("CAN Jaguar should have reached setpoint with PID control", setpoint, getME().getMotor().getPosition(), kEncoderPositionTolerance); } - + /** * Test if we can set a position and reach that position with PID control on * the Jaguar. */ @Test public void testEncoderPositionPIDReverse() { - - double setpoint = getME().getMotor().getPosition() - 10.0f; + + double setpoint = getME().getMotor().getPosition() - 1.0f; /* It should get to the setpoint within 10 seconds */ getME().getMotor().set(setpoint); @@ -106,5 +106,5 @@ public class CANPositionQuadEncoderModeTest extends AbstractCANTest { assertEquals("CAN Jaguar should have reached setpoint with PID control", setpoint, getME().getMotor().getPosition(), kEncoderPositionTolerance); } - + } diff --git a/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANSpeedQuadEncoderModeTest.java b/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANSpeedQuadEncoderModeTest.java index c699351252..65da891e65 100644 --- a/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANSpeedQuadEncoderModeTest.java +++ b/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANSpeedQuadEncoderModeTest.java @@ -30,12 +30,12 @@ public class CANSpeedQuadEncoderModeTest extends AbstractCANTest { private static final double kStoppedValue = 0; /** The running value in rev/min */ private static final double kRunningValue = 200; - + @Override protected Logger getClassLogger() { return logger; } - + @Before public void setUp() throws Exception { getME().getMotor().setSpeedMode(CANJaguar.kQuadEncoder, 360, 0.1f, 0.003f, 0.01f); @@ -44,37 +44,37 @@ public class CANSpeedQuadEncoderModeTest extends AbstractCANTest { /* The motor might still have momentum from the previous test. */ Timer.delay(kStartupTime); } - + @Test public void testDefaultSpeed(){ assertEquals("CAN Jaguar did not start with an initial speed of zero", 0.0f, getME().getMotor().getSpeed(), 0.3f); } - - + + /** * Test if we can drive the motor forward in Speed mode and get a * position back */ @Test public void testRotateForwardSpeed() { - double speed = 200.0f; + double speed = 60.0f; double initialPosition = getME().getMotor().getPosition(); setCANJaguar(kMotorTime, speed); assertEquals("The motor did not reach the required speed in speed mode", speed, getME().getMotor().getSpeed(), kEncoderSpeedTolerance); assertThat("The motor did not move forward in speed mode", getME().getMotor().getPosition(), is(greaterThan(initialPosition))); } - + /** * Test if we can drive the motor backwards in Speed mode and get a * position back */ @Test public void testRotateReverseSpeed() { - double speed = -200.0f; + double speed = -60.0f; double initialPosition = getME().getMotor().getPosition(); setCANJaguar(kMotorTime, speed); assertEquals("The motor did not reach the required speed in speed mode", speed, getME().getMotor().getSpeed(), kEncoderSpeedTolerance); assertThat("The motor did not move in reverse in speed mode", getME().getMotor().getPosition(), is(lessThan(initialPosition))); } - + }