Fixes the PDP test.

Switches the PDP test to use the MotorEncoderFixture.
Also adds helpful output information when running MotorEncoderTests by displaying the current MotorEncoder under test

Change-Id: I1d14986a6ff0ebfffa87d2fd8077d7dd1eef50e3

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java

@@ -33,37 +33,28 @@ public class MotorEncoderTest extends AbstractComsSetup {
 	private static final double MOTOR_RUNTIME = .25;
 	
 	//private static final List<MotorEncoderFixture> pairs = new ArrayList<MotorEncoderFixture>();
-	private static MotorEncoderFixture me = null;
+	private static MotorEncoderFixture<?> me = null;
 	
+	@Override
 	protected Logger getClassLogger(){
 		return logger;
 	}
 	
-	public MotorEncoderTest(MotorEncoderFixture mef){
+	public MotorEncoderTest(MotorEncoderFixture<?> mef){
 		logger.fine("Constructor with: " + mef.getType());
 		if(me != null && !me.equals(mef)) me.teardown();
 		me = mef;
 	}
 	
-	@Parameters
-	public static Collection<MotorEncoderFixture[]> generateData(){
+	@Parameters(name= "{index}: {0}")
+	public static Collection<MotorEncoderFixture<?>[]> generateData(){
 		//logger.fine("Loading the MotorList");
-		return Arrays.asList(new MotorEncoderFixture[][]{
+		return Arrays.asList(new MotorEncoderFixture<?>[][]{
 				 {TestBench.getInstance().getTalonPair()},
 				 {TestBench.getInstance().getVictorPair()},
 				 {TestBench.getInstance().getJaguarPair()}
-			//	 TestBench.getInstance().getCanJaguarPair()
 		});
 	}
-	
-	/**
-	 * Checks to see if this MotorEncoderFixture is fully configured for encoder testing
-	 * @param me The motor encoder under test
-	 * @return true if this motor encoder has an encoder attached to it
-	 */
-	boolean shouldRunTest(MotorEncoderFixture me){
-		return true;//me.getType().equals(Victor.class.getSimpleName()) || me.getType().equals(Talon.class.getSimpleName());
-	}
 
 	@Before
 	public void setUp() {
@@ -110,12 +101,9 @@ public class MotorEncoderTest extends AbstractComsSetup {
 		me.getMotor().set(.75);
 		Timer.delay(MOTOR_RUNTIME);
 		int currentValue = me.getEncoder().get();
-		if (shouldRunTest(me)) { // TODO REMOVE THIS WHEN ALL ENCODERS ARE
-									// PROPERLY ATTACHED
-			assertTrue(me.getType() + " Encoder not incremented: start: "
-					+ startValue + "; current: " + currentValue,
-					startValue < currentValue);
-		}
+		assertTrue(me.getType() + " Encoder not incremented: start: "
+				+ startValue + "; current: " + currentValue,
+				startValue < currentValue);
 		me.reset();
 		encodersResetCheck(me);
 	}
@@ -130,12 +118,9 @@ public class MotorEncoderTest extends AbstractComsSetup {
 		me.getMotor().set(-.75);
 		Timer.delay(MOTOR_RUNTIME);
 		int currentValue = me.getEncoder().get();
-		if (shouldRunTest(me)) { // TODO REMOVE THIS WHEN ALL ENCODERS ARE
-									// PROPERLY ATTACHED
-			assertTrue(me.getType() + " Encoder not decremented: start: "
-					+ startValue + "; current: " + currentValue,
-					startValue > currentValue);
-		}
+		assertTrue(me.getType() + " Encoder not decremented: start: "
+				+ startValue + "; current: " + currentValue,
+				startValue > currentValue);
 		me.reset();
 		encodersResetCheck(me);
 	}
@@ -144,7 +129,7 @@ public class MotorEncoderTest extends AbstractComsSetup {
 	 * This method test if the counters count when the motors rotate
 	 */
 	@Test
-	public void testCouter(){
+	public void testCounter(){
 		int counter1Start = me.getCounters()[0].get();
 		int counter2Start = me.getCounters()[1].get();
 
@@ -152,15 +137,12 @@ public class MotorEncoderTest extends AbstractComsSetup {
 		Timer.delay(MOTOR_RUNTIME);
 		int counter1End = me.getCounters()[0].get();
 		int counter2End = me.getCounters()[1].get();
-		if (shouldRunTest(me)) { // TODO REMOVE THIS WHEN ALL ENCODERS ARE
-									// PROPERLY ATTACHED
-			assertTrue(me.getType() + " Counter not incremented: start: "
-					+ counter1Start + "; current: " + counter1End,
-					counter1Start < counter1End);
-			assertTrue(me.getType() + " Counter not incremented: start: "
-					+ counter1Start + "; current: " + counter2End,
-					counter2Start < counter2End);
-		}
+		assertTrue(me.getType() + " Counter not incremented: start: "
+				+ counter1Start + "; current: " + counter1End,
+				counter1Start < counter1End);
+		assertTrue(me.getType() + " Counter not incremented: start: "
+				+ counter1Start + "; current: " + counter2End,
+				counter2Start < counter2End);
 		me.reset();
 		encodersResetCheck(me);
 	}
@@ -206,14 +188,13 @@ public class MotorEncoderTest extends AbstractComsSetup {
 		pid.free();
 		me.reset();
 	}
-	 
 	
 	
 	/**
 	 * Checks to see if the encoders and counters are appropriately reset to zero when reset
 	 * @param me The MotorEncoderFixture under test
 	 */
-	private void encodersResetCheck(MotorEncoderFixture me){
+	private void encodersResetCheck(MotorEncoderFixture<?> me){
 		int encoderVal =  me.getEncoder().get();
 		int counterVal[] = new int[2];
 		for(int i = 0; i < 2; i++){

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java

@@ -1,20 +1,28 @@
 package edu.wpi.first.wpilibj;
 
-import static org.junit.Assert.*;
-import static org.hamcrest.Matchers.*;
+import static org.hamcrest.Matchers.greaterThan;
+import static org.hamcrest.Matchers.is;
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertThat;
 
+import java.util.Arrays;
+import java.util.Collection;
 import java.util.logging.Logger;
 
 import org.junit.After;
 import org.junit.AfterClass;
-import org.junit.Before;
 import org.junit.BeforeClass;
 import org.junit.Test;
+import org.junit.runner.RunWith;
+import org.junit.runners.Parameterized;
+import org.junit.runners.Parameterized.Parameters;
 
 import edu.wpi.first.wpilibj.can.CANMessageNotFoundException;
+import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
 import edu.wpi.first.wpilibj.test.AbstractComsSetup;
 import edu.wpi.first.wpilibj.test.TestBench;
 
+@RunWith(Parameterized.class)
 public class PDPTest extends AbstractComsSetup {
 	private static final Logger logger = Logger.getLogger(PCMTest.class.getName());
 	/* The current returned when the motor is not being driven */
@@ -23,121 +31,66 @@ public class PDPTest extends AbstractComsSetup {
 	protected static final double  kCurrentTolerance =  0.1;
 
 	private static PowerDistributionPanel pdp;
-	private static Talon talon;
-	private static Victor victor;
-	private static Jaguar jaguar;
+	private static MotorEncoderFixture<?> me;
 
 	@BeforeClass
 	public static void setUpBeforeClass() throws Exception {
 		pdp = new PowerDistributionPanel();
-		talon = new Talon(TestBench.kTalonPDPChannel);
-		victor = new Victor(TestBench.kVictorPDPChannel);
-		jaguar = new Jaguar(TestBench.kJaguarPDPChannel);
 	}
-
+	
 	@AfterClass
 	public static void tearDownAfterClass() throws Exception {
 		pdp.free();
-		talon.free();
-		victor.free();
-		jaguar.free();
+		me.teardown();
 	}
 
-	@Before
-	public void setUp() throws Exception {
-		/* Reset all speed controllers to 0.0 */
-		talon.set(0.0);
-		victor.set(0.0);
-		jaguar.set(0.0);
+	
+	public PDPTest(MotorEncoderFixture<?> mef){
+		logger.fine("Constructor with: " + mef.getType());
+		if(me != null && !me.equals(mef)) me.teardown();
+		me = mef;
+		me.setup();
+	}
+	
+	@Parameters(name= "{index}: {0}")
+	public static Collection<MotorEncoderFixture<?>[]> generateData(){
+		//logger.fine("Loading the MotorList");
+		return Arrays.asList(new MotorEncoderFixture<?>[][]{
+				 {TestBench.getInstance().getTalonPair()},
+				 {TestBench.getInstance().getVictorPair()},
+				 {TestBench.getInstance().getJaguarPair()}
+		});
 	}
 
 	@After
 	public void tearDown() throws Exception {
+		me.reset();
 	}
+	
+	
 
 	/**
 	 * Test if the current changes when the motor is driven using a talon
 	 */
 	@Test
-	public void CheckCurrentTalon() {
+	public void CheckStoppedCurrentForSpeedController() throws CANMessageNotFoundException{
 		/* The Current should be kLowCurrent */
-		try {
-			assertEquals("The low current was not within the expected range.",
-					kLowCurrent, pdp.getCurrent(TestBench.kTalonPDPChannel), kCurrentTolerance);
-		} catch (CANMessageNotFoundException e) {
-			// TODO Auto-generated catch block
-			e.printStackTrace();
-		}
-		Timer.delay(0.02);
-
-		/* Set the motor to full forward */
-		talon.set(1.0);
-		Timer.delay(0.02);
-		/* The current should now be greater than the low current */
-		try {
-			assertThat("The driven current is not greater than the resting current.",
-					pdp.getCurrent(TestBench.kTalonPDPChannel), is(greaterThan(kLowCurrent)));
-		} catch (CANMessageNotFoundException e) {
-			// TODO Auto-generated catch block
-			e.printStackTrace();
-		}
+		assertEquals("The low current was not within the expected range.",
+				kLowCurrent, pdp.getCurrent(me.getPDPChannel()), kCurrentTolerance);
 	}
-
+	
 	/**
-	 * Test if the current changes when the motor is driven using a victor
+	 * Test if the current changes when the motor is driven using a talon
 	 */
 	@Test
-	public void CheckCurrentVictor() {
-		/* The Current should be kLowCurrent */
-		try {
-			assertEquals("The low current was not within the expected range.",
-					kLowCurrent, pdp.getCurrent(TestBench.kVictorPDPChannel), kCurrentTolerance);
-		} catch (CANMessageNotFoundException e) {
-			// TODO Auto-generated catch block
-			e.printStackTrace();
-		}
-		Timer.delay(0.02);
+	public void CheckRunningCurrentForSpeedController() throws CANMessageNotFoundException{
 
 		/* Set the motor to full forward */
-		victor.set(1.0);
+		me.getMotor().set(1.0);
 		Timer.delay(0.02);
 		/* The current should now be greater than the low current */
-		try {
-			assertThat("The driven current is not greater than the resting current.",
-					pdp.getCurrent(TestBench.kVictorPDPChannel), is(greaterThan(kLowCurrent)));
-		} catch (CANMessageNotFoundException e) {
-			// TODO Auto-generated catch block
-			e.printStackTrace();
-		}
-	}
-
-	/**
-	 * Test if the current changes when the motor is driven using a jaguar
-	 */
-	@Test
-	public void CheckCurrentJaguar() {
-		/* The Current should be kLowCurrent */
-		try {
-			assertEquals("The low current was not within the expected range.",
-					kLowCurrent, pdp.getCurrent(TestBench.kJaguarPDPChannel), kCurrentTolerance);
-		} catch (CANMessageNotFoundException e) {
-			// TODO Auto-generated catch block
-			e.printStackTrace();
-		}
-		Timer.delay(0.02);
-
-		/* Set the motor to full forward */
-		jaguar.set(1.0);
-		Timer.delay(0.02);
-
-		/* The current should now be greater than the low current */
-		try {
-			assertThat("The driven current is not greater than the resting current.",
-					pdp.getCurrent(TestBench.kJaguarPDPChannel), is(greaterThan(kLowCurrent)));
-		} catch (CANMessageNotFoundException e) {
-			// TODO Auto-generated catch block
-			e.printStackTrace();
-		}
+		assertThat("The driven current is not greater than the resting current.",
+				pdp.getCurrent(me.getPDPChannel()), is(greaterThan(kLowCurrent)));
 	}
 
 	@Override

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/MotorEncoderFixture.java

@@ -6,6 +6,7 @@
 /*----------------------------------------------------------------------------*/
 package edu.wpi.first.wpilibj.fixtures;
 
+import java.lang.reflect.ParameterizedType;
 import java.util.logging.Logger;
 
 import edu.wpi.first.wpilibj.Counter;
@@ -40,6 +41,8 @@ public abstract class MotorEncoderFixture <T extends SpeedController> implements
 	 */
 	public MotorEncoderFixture(){
 	}
+	
+	abstract public int getPDPChannel();
 
 	/**
 	 * Where the implementer of this class should pass the speed controller
@@ -210,5 +213,16 @@ public abstract class MotorEncoderFixture <T extends SpeedController> implements
 
 		return true;
 	}
+	
+	@Override
+	public String toString(){
+		StringBuilder string = new StringBuilder("MotorEncoderFixture<");
+		//Get the generic type as a class
+		@SuppressWarnings("unchecked")
+		Class<T> class1 = (Class<T>)((ParameterizedType)getClass().getGenericSuperclass()).getActualTypeArguments()[0];
+		string.append(class1.getSimpleName());
+		string.append(">");
+		return string.toString();
+	}
 
 }

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java

@@ -22,6 +22,7 @@ import edu.wpi.first.wpilibj.Jaguar;
 import edu.wpi.first.wpilibj.Relay;
 import edu.wpi.first.wpilibj.Servo;
 import edu.wpi.first.wpilibj.Talon;
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.Victor;
 import edu.wpi.first.wpilibj.fixtures.AnalogCrossConnectFixture;
 import edu.wpi.first.wpilibj.fixtures.CANMotorEncoderFixture;
@@ -55,8 +56,9 @@ public final class TestBench {
 
 	/* PowerDistributionPanel channels */
 	public static final int kJaguarPDPChannel = 6;
-	public static final int kVictorPDPChannel = 10;
+	public static final int kVictorPDPChannel = 8;
 	public static final int kTalonPDPChannel = 11;
+	public static final int kCANJaguarPDPChannel = 5;
 	
 	/* CAN ASSOICATED CHANNELS */
 	public static final int kCANRelayPowerCycler = 1;
@@ -102,6 +104,10 @@ public final class TestBench {
 			protected DigitalInput giveDigitalInputB() {
 				return new DigitalInput(1);
 			}
+			@Override
+			public int getPDPChannel() {
+				return kTalonPDPChannel;
+			}
 		};
 		return talonPair;
 	}
@@ -129,6 +135,10 @@ public final class TestBench {
 			protected DigitalInput giveDigitalInputB() {
 				return new DigitalInput(3);
 			}
+			@Override
+			public int getPDPChannel() {
+				return kVictorPDPChannel;
+			}
 		};
 		return vicPair;
 	}
@@ -155,6 +165,10 @@ public final class TestBench {
 			protected DigitalInput giveDigitalInputB() {
 				return new DigitalInput(5);
 			}
+			@Override
+			public int getPDPChannel() {
+				return kJaguarPDPChannel;
+			}
 		};
 		return jagPair;
 	}
@@ -191,6 +205,11 @@ public final class TestBench {
 		protected Relay givePoweCycleRelay() {
 			return new Relay(kCANRelayPowerCycler);
 		}
+		
+		@Override
+		public int getPDPChannel() {
+			return kCANJaguarPDPChannel;
+		}
 	}
 
 	/**
@@ -215,6 +234,7 @@ public final class TestBench {
 		Gyro gyro = new Gyro(0);
 		gyro.setSensitivity(.007); // If a different gyroscope is used this
 									// value will be different
+		Timer.delay(1);
 
 		Servo tilt = new Servo(9);
 		Servo pan = new Servo(8);