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Add encoder indexing support in C++

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Java will be done tonight or tomorrow

Change-Id: I3a3287a197b6f071c261172eb8ec930693e8b3c7
This commit is contained in:
Thomas Clark
2015-01-06 16:39:24 -05:00
parent 87e1df068c
commit a2dfffeddc
5 changed files with 165 additions and 18 deletions
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121
wpilibc/wpilibC++IntegrationTests/src/FakeEncoderTest.cpp
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@@ -9,24 +9,62 @@
#include "gtest/gtest.h"
#include "TestBench.h"
static const double kDelayTime = 0.01;
static const double kDelayTime = 0.001;
class FakeEncoderTest : public testing::Test {
protected:
Encoder *m_encoder;
DigitalOutput *m_outputA;
DigitalOutput *m_outputB;
AnalogOutput *m_indexOutput;
Encoder *m_encoder;
AnalogTrigger *m_indexAnalogTrigger;
AnalogTriggerOutput *m_indexAnalogTriggerOutput;
virtual void SetUp() {
m_outputA = new DigitalOutput(TestBench::kLoop2OutputChannel);
m_outputB = new DigitalOutput(TestBench::kLoop1OutputChannel);
m_indexOutput = new AnalogOutput(TestBench::kAnalogOutputChannel);
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() {
delete m_encoder;
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);
}
}
void SetIndexHigh() {
m_indexOutput->SetVoltage(5.0);
Wait(kDelayTime);
}
void SetIndexLow() {
m_indexOutput->SetVoltage(0.0);
Wait(kDelayTime);
}
};
@@ -42,22 +80,69 @@ TEST_F(FakeEncoderTest, TestDefaultState) {
* Test the encoder by setting the digital outputs and reading the value.
*/
TEST_F(FakeEncoderTest, TestCountUp) {
m_outputA->Set(false);
m_outputB->Set(false);
m_encoder->Reset();
//Sets the outputs such that the encoder moves in the positive direction
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);
}
Simulate100QuadratureTicks();
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);
SetIndexLow();
Simulate100QuadratureTicks();
SetIndexHigh();
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);
SetIndexLow();
Simulate100QuadratureTicks();
SetIndexHigh();
EXPECT_EQ(0, 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);
SetIndexHigh();
Simulate100QuadratureTicks();
SetIndexLow();
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);
SetIndexHigh();
Simulate100QuadratureTicks();
SetIndexLow();
EXPECT_EQ(0, m_encoder->Get());
Simulate100QuadratureTicks();
EXPECT_EQ(100, m_encoder->Get());
}