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https://github.com/wpilibsuite/allwpilib
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Applies Google Styleguide to Java parts of the library (#23)
This was partially applied to simulation but simulation is a bit of a mess and has a lot of duplicated code.
This commit is contained in:
Jonathan Leitschuh
committed by
Peter Johnson
Peter Johnson
parent
64ab6e51fe
commit
a834fff7b2
@@ -7,18 +7,6 @@
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package edu.wpi.first.wpilibj;
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import static org.hamcrest.CoreMatchers.is;
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import static org.hamcrest.CoreMatchers.not;
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import static org.junit.Assert.assertEquals;
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import static org.junit.Assert.assertFalse;
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import static org.junit.Assert.assertThat;
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import static org.junit.Assert.assertTrue;
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import java.util.ArrayList;
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import java.util.Arrays;
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import java.util.Collection;
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import java.util.logging.Logger;
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import org.junit.After;
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import org.junit.AfterClass;
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import org.junit.Before;
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@@ -28,29 +16,43 @@ import org.junit.runner.RunWith;
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import org.junit.runners.Parameterized;
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import org.junit.runners.Parameterized.Parameters;
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import java.util.ArrayList;
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import java.util.Arrays;
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import java.util.Collection;
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import java.util.logging.Logger;
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import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
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import edu.wpi.first.wpilibj.networktables.NetworkTable;
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import edu.wpi.first.wpilibj.test.AbstractComsSetup;
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import edu.wpi.first.wpilibj.test.TestBench;
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import static org.hamcrest.CoreMatchers.is;
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import static org.hamcrest.CoreMatchers.not;
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import static org.junit.Assert.assertEquals;
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import static org.junit.Assert.assertFalse;
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import static org.junit.Assert.assertThat;
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import static org.junit.Assert.assertTrue;
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/**
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* Test that covers the {@link PIDController}.
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*
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* @author Kacper Puczydlowski
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* @author Jonathan Leitschuh
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*
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*/
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@RunWith(Parameterized.class)
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public class PIDTest extends AbstractComsSetup {
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private static final Logger logger = Logger.getLogger(PIDTest.class.getName());
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private NetworkTable table;
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private NetworkTable m_table;
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private static final double absoluteTolerance = 50;
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private static final double outputRange = 0.25;
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private PIDController controller = null;
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private PIDController m_controller = null;
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private static MotorEncoderFixture me = null;
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@SuppressWarnings({"MemberName", "EmptyLineSeparator", "MultipleVariableDeclarations"})
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private final Double k_p, k_i, k_d;
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@Override
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@@ -59,10 +61,12 @@ public class PIDTest extends AbstractComsSetup {
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}
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@SuppressWarnings({"ParameterName", "JavadocMethod"})
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public PIDTest(Double p, Double i, Double d, MotorEncoderFixture mef) {
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logger.fine("Constructor with: " + mef.getType());
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if (PIDTest.me != null && !PIDTest.me.equals(mef))
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if (PIDTest.me != null && !PIDTest.me.equals(mef)) {
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PIDTest.me.teardown();
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}
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PIDTest.me = mef;
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this.k_p = p;
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this.k_i = i;
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@@ -78,7 +82,7 @@ public class PIDTest extends AbstractComsSetup {
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double ki = 0.0005;
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double kd = 0.0;
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for (int i = 0; i < 1; i++) {
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data.addAll(Arrays.asList(new Object[][] {
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data.addAll(Arrays.asList(new Object[][]{
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{kp, ki, kd, TestBench.getInstance().getTalonPair()},
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{kp, ki, kd, TestBench.getInstance().getVictorPair()},
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{kp, ki, kd, TestBench.getInstance().getJaguarPair()}}));
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@@ -86,15 +90,10 @@ public class PIDTest extends AbstractComsSetup {
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return data;
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}
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/**
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* @throws java.lang.Exception
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*/
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@BeforeClass
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public static void setUpBeforeClass() throws Exception {}
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public static void setUpBeforeClass() throws Exception {
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}
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/**
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* @throws java.lang.Exception
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*/
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@AfterClass
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public static void tearDownAfterClass() throws Exception {
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logger.fine("TearDownAfterClass: " + me.getType());
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@@ -102,36 +101,30 @@ public class PIDTest extends AbstractComsSetup {
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me = null;
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}
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/**
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* @throws java.lang.Exception
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*/
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@Before
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public void setUp() throws Exception {
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logger.fine("Setup: " + me.getType());
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me.setup();
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table = NetworkTable.getTable("TEST_PID");
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controller = new PIDController(k_p, k_i, k_d, me.getEncoder(), me.getMotor());
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controller.initTable(table);
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m_table = NetworkTable.getTable("TEST_PID");
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m_controller = new PIDController(k_p, k_i, k_d, me.getEncoder(), me.getMotor());
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m_controller.initTable(m_table);
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}
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/**
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* @throws java.lang.Exception
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*/
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@After
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public void tearDown() throws Exception {
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logger.fine("Teardown: " + me.getType());
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controller.disable();
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controller.free();
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controller = null;
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m_controller.disable();
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m_controller.free();
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m_controller = null;
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me.reset();
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}
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private void setupAbsoluteTolerance() {
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controller.setAbsoluteTolerance(absoluteTolerance);
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m_controller.setAbsoluteTolerance(absoluteTolerance);
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}
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private void setupOutputRange() {
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controller.setOutputRange(-outputRange, outputRange);
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m_controller.setOutputRange(-outputRange, outputRange);
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}
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@Test
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@@ -139,14 +132,15 @@ public class PIDTest extends AbstractComsSetup {
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setupAbsoluteTolerance();
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setupOutputRange();
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double setpoint = 2500.0;
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controller.setSetpoint(setpoint);
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assertFalse("PID did not begin disabled", controller.isEnable());
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assertEquals("PID.getError() did not start at " + setpoint, setpoint, controller.getError(), 0);
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assertEquals(k_p, table.getNumber("p"), 0);
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assertEquals(k_i, table.getNumber("i"), 0);
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assertEquals(k_d, table.getNumber("d"), 0);
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assertEquals(setpoint, table.getNumber("setpoint"), 0);
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assertFalse(table.getBoolean("enabled"));
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m_controller.setSetpoint(setpoint);
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assertFalse("PID did not begin disabled", m_controller.isEnable());
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assertEquals("PID.getError() did not start at " + setpoint, setpoint,
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m_controller.getError(), 0);
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assertEquals(k_p, m_table.getNumber("p"), 0);
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assertEquals(k_i, m_table.getNumber("i"), 0);
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assertEquals(k_d, m_table.getNumber("d"), 0);
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assertEquals(setpoint, m_table.getNumber("setpoint"), 0);
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assertFalse(m_table.getBoolean("enabled"));
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}
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@Test
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@@ -154,15 +148,15 @@ public class PIDTest extends AbstractComsSetup {
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setupAbsoluteTolerance();
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setupOutputRange();
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double setpoint = 2500.0;
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controller.setSetpoint(setpoint);
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controller.enable();
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m_controller.setSetpoint(setpoint);
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m_controller.enable();
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Timer.delay(.5);
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assertTrue(table.getBoolean("enabled"));
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assertTrue(controller.isEnable());
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assertTrue(m_table.getBoolean("enabled"));
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assertTrue(m_controller.isEnable());
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assertThat(0.0, is(not(me.getMotor().get())));
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controller.reset();
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assertFalse(table.getBoolean("enabled"));
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assertFalse(controller.isEnable());
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m_controller.reset();
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assertFalse(m_table.getBoolean("enabled"));
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assertFalse(m_controller.isEnable());
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assertEquals(0, me.getMotor().get(), 0);
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}
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@@ -171,10 +165,11 @@ public class PIDTest extends AbstractComsSetup {
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setupAbsoluteTolerance();
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setupOutputRange();
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Double setpoint = 2500.0;
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controller.disable();
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controller.setSetpoint(setpoint);
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controller.enable();
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assertEquals("Did not correctly set set-point", setpoint, new Double(controller.getSetpoint()));
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m_controller.disable();
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m_controller.setSetpoint(setpoint);
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m_controller.enable();
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assertEquals("Did not correctly set set-point", setpoint, new Double(m_controller
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.getSetpoint()));
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}
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@Test(timeout = 10000)
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@@ -182,26 +177,26 @@ public class PIDTest extends AbstractComsSetup {
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setupAbsoluteTolerance();
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setupOutputRange();
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double setpoint = 1000.0;
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assertEquals(pidData() + "did not start at 0", 0, controller.get(), 0);
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controller.setSetpoint(setpoint);
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assertEquals(pidData() + "did not start at 0", 0, m_controller.get(), 0);
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m_controller.setSetpoint(setpoint);
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assertEquals(pidData() + "did not have an error of " + setpoint, setpoint,
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controller.getError(), 0);
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controller.enable();
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m_controller.getError(), 0);
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m_controller.enable();
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Timer.delay(5);
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controller.disable();
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assertTrue(pidData() + "Was not on Target. Controller Error: " + controller.getError(),
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controller.onTarget());
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m_controller.disable();
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assertTrue(pidData() + "Was not on Target. Controller Error: " + m_controller.getError(),
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m_controller.onTarget());
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}
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private String pidData() {
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return me.getType() + " PID {P:" + controller.getP() + " I:" + controller.getI() + " D:"
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+ controller.getD() + "} ";
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return me.getType() + " PID {P:" + m_controller.getP() + " I:" + m_controller.getI() + " D:"
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+ m_controller.getD() + "} ";
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}
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@Test(expected = RuntimeException.class)
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public void testOnTargetNoToleranceSet() {
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setupOutputRange();
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controller.onTarget();
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m_controller.onTarget();
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}
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}
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