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Applies Google Styleguide to Java parts of the library (#23)

Browse Source 
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
2016-05-20 12:07:40 -04:00
committed by Peter Johnson
parent 64ab6e51fe
commit a834fff7b2
266 changed files with 15574 additions and 14718 deletions
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55
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/AbstractCANTest.java
View File

@@ -18,12 +18,10 @@ import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.test.TestBench;
/**
* Provides a base implementation for CAN Tests that forces a test of a
* particular mode to provide tests of a certain type. This also allows for a
* standardized base setup for each test.
*$
* @author jonathanleitschuh
* Provides a base implementation for CAN Tests that forces a test of a particular mode to provide
* tests of a certain type. This also allows for a standardized base setup for each test.
*
* @author jonathanleitschuh
*/
public abstract class AbstractCANTest extends AbstractComsSetup {
public static final double kMotorStopTime = 2;
@@ -36,27 +34,26 @@ public abstract class AbstractCANTest extends AbstractComsSetup {
public static final double kStartupTime = 0.50;
public static final double kEncoderPositionTolerance = .75;
public static final double kPotentiometerPositionTolerance = 10.0 / 360.0; // +/-10
// degrees
// degrees
public static final double kCurrentTolerance = 0.1;
/**
* Stores the status value for the previous test. This is set immediately
* after a failure or success and before the me is torn down.
* Stores the status value for the previous test. This is set immediately after a failure or
* success and before the me is torn down.
*/
private String status = "";
private String m_status = "";
/**
* Extends the default test watcher in order to provide more information about
* a tests failure at runtime.
*$
* @author jonathanleitschuh
* Extends the default test watcher in order to provide more information about a tests failure at
* runtime.
*
* @author jonathanleitschuh
*/
public class CANTestWatcher extends DefaultTestWatcher {
@Override
protected void failed(Throwable e, Description description) {
super.failed(e, description, status);
protected void failed(Throwable exception, Description description) {
super.failed(exception, description, m_status);
}
}
@@ -65,27 +62,29 @@ public abstract class AbstractCANTest extends AbstractComsSetup {
return new CANTestWatcher();
}
/** The Fixture under test */
private CANMotorEncoderFixture me;
/**
* The Fixture under test.
*/
private CANMotorEncoderFixture m_me;
/**
* Retrieves the CANMotorEncoderFixture
*$
* Retrieves the CANMotorEncoderFixture.
*
* @return the CANMotorEncoderFixture for this test.
*/
public CANMotorEncoderFixture getME() {
return me;
return m_me;
}
/**
* This runs BEFORE the setup of the inherited class
* This runs BEFORE the setup of the inherited class.
*/
@Before
public final void preSetup() {
status = "";
me = TestBench.getInstance().getCanJaguarPair();
me.setup();
me.getMotor().setSafetyEnabled(false);
m_status = "";
m_me = TestBench.getInstance().getCanJaguarPair();
m_me.setup();
m_me.getMotor().setSafetyEnabled(false);
}
@After
@@ -93,11 +92,11 @@ public abstract class AbstractCANTest extends AbstractComsSetup {
try {
// Stores the status data before tearing it down.
// If the test fails unexpectedly then this could cause an exception.
status = me.printStatus();
m_status = m_me.printStatus();
} finally {
me.teardown();
m_me.teardown();
}
me = null;
m_me = null;
}
protected void setCANJaguar(double seconds, double value) {

22
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANCurrentQuadEncoderModeTest.java
View File

@@ -7,20 +7,21 @@
package edu.wpi.first.wpilibj.can;
import static org.junit.Assert.assertEquals;
import org.junit.Before;
import org.junit.Ignore;
import org.junit.Test;
import java.util.logging.Logger;
import org.junit.Before;
import org.junit.Test;
import org.junit.Ignore;
import edu.wpi.first.wpilibj.CANJaguar;
import edu.wpi.first.wpilibj.Timer;
import static org.junit.Assert.assertEquals;
/**
* @author jonathanleitschuh
* Tests the CAN Motor Controller in Current Quad Encoder mode.
*
* @author jonathanleitschuh
*/
public class CANCurrentQuadEncoderModeTest extends AbstractCANTest {
private static Logger logger = Logger.getLogger(CANCurrentQuadEncoderModeTest.class.getName());
@@ -29,7 +30,7 @@ public class CANCurrentQuadEncoderModeTest extends AbstractCANTest {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.can.AbstractCANTest#stopMotor()
*/
protected void stopMotor() {
@@ -38,7 +39,7 @@ public class CANCurrentQuadEncoderModeTest extends AbstractCANTest {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.can.AbstractCANTest#runMotorForward()
*/
protected void runMotorForward() {
@@ -47,7 +48,7 @@ public class CANCurrentQuadEncoderModeTest extends AbstractCANTest {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.can.AbstractCANTest#runMotorReverse()
*/
protected void runMotorReverse() {
@@ -96,7 +97,8 @@ public class CANCurrentQuadEncoderModeTest extends AbstractCANTest {
for (int i = 0; i < 10; i++) {
setCANJaguar(1.0, setpoint);
if (Math.abs(getME().getMotor().getOutputCurrent() - Math.abs(setpoint)) <= kCurrentTolerance) {
if (Math.abs(getME().getMotor().getOutputCurrent() - Math.abs(setpoint))
<= kCurrentTolerance) {
break;
}
}

64
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANDefaultTest.java
View File

@@ -7,6 +7,18 @@
package edu.wpi.first.wpilibj.can;
import com.googlecode.junittoolbox.PollingWait;
import com.googlecode.junittoolbox.RunnableAssert;
import org.junit.Before;
import org.junit.Test;
import java.util.concurrent.TimeUnit;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.CANJaguar;
import edu.wpi.first.wpilibj.Timer;
import static org.hamcrest.Matchers.greaterThan;
import static org.hamcrest.Matchers.is;
import static org.junit.Assert.assertEquals;
@@ -14,25 +26,14 @@ import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertThat;
import static org.junit.Assert.assertTrue;
import java.util.concurrent.TimeUnit;
import java.util.logging.Logger;
import org.junit.Before;
import org.junit.Test;
import com.googlecode.junittoolbox.PollingWait;
import com.googlecode.junittoolbox.RunnableAssert;
import edu.wpi.first.wpilibj.CANJaguar;
import edu.wpi.first.wpilibj.Timer;
/**
* @author jonathanleitschuh
* The default test set to run against the CAN Motor Controllers.
*
* @author jonathanleitschuh
*/
public class CANDefaultTest extends AbstractCANTest {
private static final Logger logger = Logger.getLogger(CANDefaultTest.class.getName());
private final PollingWait wait = new PollingWait().timeoutAfter(65, TimeUnit.MILLISECONDS)
private final PollingWait m_wait = new PollingWait().timeoutAfter(65, TimeUnit.MILLISECONDS)
.pollEvery(10, TimeUnit.MILLISECONDS);
private static final double kSpikeTime = .5;
@@ -42,9 +43,6 @@ public class CANDefaultTest extends AbstractCANTest {
return logger;
}
/**
* @throws java.lang.Exception
*/
@Before
public void setUp() throws Exception {
getME().getMotor().enableControl();
@@ -55,17 +53,18 @@ public class CANDefaultTest extends AbstractCANTest {
@Test
public void testDefaultGet() {
wait.until(new RunnableAssert("Waiting for CAN Jaguar get to return 0") {
m_wait.until(new RunnableAssert("Waiting for CAN Jaguar get to return 0") {
@Override
public void run() {
assertEquals("CAN Jaguar did not initialize stopped", 0.0, getME().getMotor().get(), .01f);
assertEquals("CAN Jaguar did not initialize stopped", 0.0, getME().getMotor().get(),
.01f);
}
});
}
@Test
public void testDefaultBusVoltage() {
wait.until(new RunnableAssert("Waiting for default bus voltage to be correct") {
m_wait.until(new RunnableAssert("Waiting for default bus voltage to be correct") {
@Override
public void run() {
assertEquals("CAN Jaguar did not start at 14 volts", 14.0f, getME().getMotor()
@@ -76,7 +75,7 @@ public class CANDefaultTest extends AbstractCANTest {
@Test
public void testDefaultOutputVoltage() {
wait.until(new RunnableAssert("Waiting for output voltage to be correct") {
m_wait.until(new RunnableAssert("Waiting for output voltage to be correct") {
@Override
public void run() {
assertEquals("CAN Jaguar did not start with an output voltage of 0", 0.0f, getME()
@@ -87,7 +86,7 @@ public class CANDefaultTest extends AbstractCANTest {
@Test
public void testDefaultOutputCurrent() {
wait.until(new RunnableAssert("Waiting for output current to be correct") {
m_wait.until(new RunnableAssert("Waiting for output current to be correct") {
@Override
public void run() {
assertEquals("CAN Jaguar did not start with an output current of 0", 0.0f, getME()
@@ -99,7 +98,7 @@ public class CANDefaultTest extends AbstractCANTest {
@Test
public void testDefaultTemperature() {
final double room_temp = 18.0f;
wait.until(new RunnableAssert("Waiting for temperature to be correct") {
m_wait.until(new RunnableAssert("Waiting for temperature to be correct") {
@Override
public void run() {
assertThat(
@@ -112,11 +111,12 @@ public class CANDefaultTest extends AbstractCANTest {
@Test
public void testDefaultForwardLimit() {
getME().getMotor().configLimitMode(CANJaguar.LimitMode.SwitchInputsOnly);
wait.until(new RunnableAssert("Waiting for forward limit to not be set") {
m_wait.until(new RunnableAssert("Waiting for forward limit to not be set") {
@Override
public void run() {
getME().getMotor().set(0);
assertTrue("CAN Jaguar did not start with the Forward Limit Switch Off", getME().getMotor()
assertTrue("CAN Jaguar did not start with the Forward Limit Switch Off", getME()
.getMotor()
.getForwardLimitOK());
}
});
@@ -125,11 +125,12 @@ public class CANDefaultTest extends AbstractCANTest {
@Test
public void testDefaultReverseLimit() {
getME().getMotor().configLimitMode(CANJaguar.LimitMode.SwitchInputsOnly);
wait.until(new RunnableAssert("Waiting for reverse limit to not be set") {
m_wait.until(new RunnableAssert("Waiting for reverse limit to not be set") {
@Override
public void run() {
getME().getMotor().set(0);
assertTrue("CAN Jaguar did not start with the Reverse Limit Switch Off", getME().getMotor()
assertTrue("CAN Jaguar did not start with the Reverse Limit Switch Off", getME()
.getMotor()
.getReverseLimitOK());
}
});
@@ -137,7 +138,7 @@ public class CANDefaultTest extends AbstractCANTest {
@Test
public void testDefaultNoFaults() {
wait.until(new RunnableAssert("Waiting for no faults") {
m_wait.until(new RunnableAssert("Waiting for no faults") {
@Override
public void run() {
assertEquals("CAN Jaguar initialized with Faults", 0, getME().getMotor().getFaults());
@@ -146,7 +147,6 @@ public class CANDefaultTest extends AbstractCANTest {
}
@Test
public void testFakeLimitSwitchForwards() {
// Given
@@ -165,7 +165,8 @@ public class CANDefaultTest extends AbstractCANTest {
public void run() throws Exception {
getME().getMotor().set(0);
assertFalse(
"Setting the forward limit switch high did not cause the forward limit switch to trigger",
"Setting the forward limit switch high did not cause the forward limit switch to "
+ "trigger",
getME().getMotor().getForwardLimitOK());
}
});
@@ -190,7 +191,8 @@ public class CANDefaultTest extends AbstractCANTest {
public void run() throws Exception {
getME().getMotor().set(0);
assertFalse(
"Setting the reverse limit switch high did not cause the forward limit switch to trigger",
"Setting the reverse limit switch high did not cause the forward limit switch to "
+ "trigger",
getME().getMotor().getReverseLimitOK());
}
});

61
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANJaguarInversionTest.java
View File

@@ -7,22 +7,27 @@
package edu.wpi.first.wpilibj.can;
import edu.wpi.first.wpilibj.CANJaguar;
import edu.wpi.first.wpilibj.Timer;
import org.junit.Test;
import static org.junit.Assert.assertTrue;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.CANJaguar;
import edu.wpi.first.wpilibj.Timer;
import static org.junit.Assert.assertTrue;
/**
* Created by Patrick Murphy on 3/30/15.
* Tests the CAN Jaguar inverted.
*
* <p>Created by Patrick Murphy on 3/30/15.
*/
public class CANJaguarInversionTest extends AbstractCANTest {
private static final Logger logger = Logger.getLogger(CANJaguarInversionTest.class.getName());
private static final double motorVoltage = 2.0;
private static final double motorPercent = 0.1;
private static final double motorSpeed = 10;
private static final double delayTime = 0.75;
private static final double speedModeDelayTime = 2.0;
private static final double m_motorVoltage = 2.0;
private static final double m_motorPercent = 0.1;
private static final double m_motorSpeed = 10;
private static final double m_delayTime = 0.75;
private static final double m_speedModeDelayTime = 2.0;
@Override
protected Logger getClassLogger() {
@@ -32,54 +37,52 @@ public class CANJaguarInversionTest extends AbstractCANTest {
@Test
public void testInvertingVoltageMode() {
getME().getMotor().setVoltageMode(CANJaguar.kQuadEncoder, 360);
InversionTest(motorVoltage, delayTime);
inversionTest(m_motorVoltage, m_delayTime);
}
@Test
public void testInvertingPercentMode() {
getME().getMotor().setPercentMode(CANJaguar.kQuadEncoder, 360);
InversionTest(motorPercent, delayTime);
inversionTest(m_motorPercent, m_delayTime);
}
@Test
public void testInvertingSpeedMode() {
getME().getMotor().setSpeedMode(CANJaguar.kQuadEncoder, 360, 0.1, 0.003, 0.01);
InversionTest(motorSpeed, speedModeDelayTime);
inversionTest(m_motorSpeed, m_speedModeDelayTime);
}
/**
* Runs an inversion test To use set the jaguar to the proper
* mode(PercentVbus, voltage, speed)
*$
* @param setpoint the speed/voltage/percent to set the motor to
* @param delayTime the amount of time to delay between starting a motor and
* checking the encoder
* Runs an inversion test To use set the jaguar to the proper mode(PercentVbus, voltage, speed).
*
* @param setPoint the speed/voltage/percent to set the motor to
* @param delayTime the amount of time to delay between starting a motor and checking the encoder
*/
private void InversionTest(double setpoint, double delayTime) {
CANJaguar jag = this.getME().getMotor();
private void inversionTest(double setPoint, double delayTime) {
final CANJaguar jag = getME().getMotor();
jag.enableControl();
jag.setInverted(false);
jag.set(setpoint);
jag.set(setPoint);
Timer.delay(delayTime);
double initialSpeed = jag.getSpeed();
final double initialSpeed = jag.getSpeed();
jag.set(0.0);
jag.setInverted(true);
jag.set(setpoint);
jag.set(setPoint);
Timer.delay(delayTime);
jag.set(0.0);
double finalSpeed = jag.getSpeed();
final double finalSpeed = jag.getSpeed();
assertTrue("Inverting with Positive value does not invert direction",
Math.signum(initialSpeed) != Math.signum(finalSpeed));
jag.set(-setpoint);
jag.set(-setPoint);
Timer.delay(delayTime);
initialSpeed = jag.getSpeed();
final double newInitialSpeed = jag.getSpeed();
jag.set(0.0);
jag.setInverted(false);
jag.set(-setpoint);
jag.set(-setPoint);
Timer.delay(delayTime);
finalSpeed = jag.getSpeed();
final double newFinalSpeed = jag.getSpeed();
jag.set(0.0);
assertTrue("Inverting with Negative value does not invert direction",
Math.signum(initialSpeed) != Math.signum(finalSpeed));
Math.signum(newInitialSpeed) != Math.signum(newFinalSpeed));
}
}

55
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANPercentQuadEncoderModeTest.java
View File

@@ -7,6 +7,20 @@
package edu.wpi.first.wpilibj.can;
import com.googlecode.junittoolbox.PollingWait;
import com.googlecode.junittoolbox.RunnableAssert;
import org.junit.Before;
import org.junit.Ignore;
import org.junit.Test;
import java.util.concurrent.TimeUnit;
import java.util.logging.Level;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.CANJaguar;
import edu.wpi.first.wpilibj.Timer;
import static org.hamcrest.Matchers.greaterThan;
import static org.hamcrest.Matchers.is;
import static org.hamcrest.Matchers.lessThan;
@@ -15,24 +29,12 @@ import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertThat;
import static org.junit.Assert.assertTrue;
import java.util.concurrent.TimeUnit;
import java.util.logging.Level;
import java.util.logging.Logger;
import org.junit.Before;
import org.junit.Ignore;
import org.junit.Test;
import com.googlecode.junittoolbox.PollingWait;
import com.googlecode.junittoolbox.RunnableAssert;
import edu.wpi.first.wpilibj.CANJaguar;
import edu.wpi.first.wpilibj.Timer;
/**
* @author jonathanleitschuh
* Tests the CAN motor in PercentQuadEncoderMode.
*
* @author jonathanleitschuh
*/
@SuppressWarnings("AbbreviationAsWordInName")
public class CANPercentQuadEncoderModeTest extends AbstractCANTest {
private static final Logger logger = Logger.getLogger(CANPercentQuadEncoderModeTest.class
.getName());
@@ -41,7 +43,7 @@ public class CANPercentQuadEncoderModeTest extends AbstractCANTest {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.can.AbstractCANTest#stopMotor()
*/
protected void stopMotor() {
@@ -50,7 +52,7 @@ public class CANPercentQuadEncoderModeTest extends AbstractCANTest {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.can.AbstractCANTest#runMotorForward()
*/
protected void runMotorForward() {
@@ -59,7 +61,7 @@ public class CANPercentQuadEncoderModeTest extends AbstractCANTest {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.can.AbstractCANTest#runMotorReverse()
*/
protected void runMotorReverse() {
@@ -148,8 +150,7 @@ public class CANPercentQuadEncoderModeTest extends AbstractCANTest {
}
/**
* Test if we can limit the Jaguar to not rotate forwards when the fake limit
* switch is tripped
* Test if we can limit the Jaguar to not rotate forwards when the fake limit switch is tripped.
*/
@Test
public void shouldNotRotateForwards_WhenFakeLimitSwitchForwardsIsTripped() {
@@ -196,7 +197,7 @@ public class CANPercentQuadEncoderModeTest extends AbstractCANTest {
/**
* Test if we can rotate in reverse when the limit switch
* Test if we can rotate in reverse when the limit switch.
*/
@Test
public void shouldRotateReverse_WhenFakeLimitSwitchForwardsIsTripped() {
@@ -251,8 +252,7 @@ public class CANPercentQuadEncoderModeTest extends AbstractCANTest {
}
/**
* Test if we can limit the Jaguar to only moving forwards with a fake limit
* switch.
* Test if we can limit the Jaguar to only moving forwards with a fake limit switch.
*/
@Test
public void shouldNotRotateReverse_WhenFakeLimitSwitchReversesIsTripped() {
@@ -301,9 +301,6 @@ public class CANPercentQuadEncoderModeTest extends AbstractCANTest {
* Test if we can limit the Jaguar to only moving forwards with a fake limit
* switch.
*/
/**
*$
*/
@Test
public void shouldRotateForward_WhenFakeLimitSwitchReversesIsTripped() {
// Given
@@ -368,7 +365,8 @@ public class CANPercentQuadEncoderModeTest extends AbstractCANTest {
@Override
public boolean getAsBoolean() {
return Math.abs((getME().getMotor().getPosition() - jagInitialPosition)
- (getME().getEncoder().get() - encoderInitialPosition)) < kEncoderPositionTolerance;
- (getME().getEncoder().get() - encoderInitialPosition))
< kEncoderPositionTolerance;
}
});
@@ -391,7 +389,8 @@ public class CANPercentQuadEncoderModeTest extends AbstractCANTest {
@Override
public boolean getAsBoolean() {
return Math.abs((getME().getMotor().getPosition() - jagInitialPosition)
- (getME().getEncoder().get() - encoderInitialPosition)) < kEncoderPositionTolerance;
- (getME().getEncoder().get() - encoderInitialPosition))
< kEncoderPositionTolerance;
}
});
assertEquals(getME().getMotor().getPosition() - jagInitialPosition, getME().getEncoder().get()

46
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANPositionPotentiometerModeTest.java
View File

@@ -7,28 +7,29 @@
package edu.wpi.first.wpilibj.can;
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.concurrent.TimeUnit;
import java.util.logging.Logger;
import com.googlecode.junittoolbox.PollingWait;
import com.googlecode.junittoolbox.RunnableAssert;
import org.junit.Before;
import org.junit.Ignore;
import org.junit.Test;
import com.googlecode.junittoolbox.PollingWait;
import com.googlecode.junittoolbox.RunnableAssert;
import java.util.concurrent.TimeUnit;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.CANJaguar;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
import static org.hamcrest.Matchers.greaterThan;
import static org.hamcrest.Matchers.is;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertThat;
/**
* @author jonathanleitschuh
* Tests the CAN Motor controller in Potentiometer Mode.
*
* @author jonathanleitschuh
*/
public class CANPositionPotentiometerModeTest extends AbstractCANTest {
private static final Logger logger = Logger.getLogger(CANPositionPotentiometerModeTest.class
@@ -41,7 +42,7 @@ public class CANPositionPotentiometerModeTest extends AbstractCANTest {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.can.AbstractCANTest#stopMotor()
*/
protected void stopMotor() {
@@ -50,7 +51,7 @@ public class CANPositionPotentiometerModeTest extends AbstractCANTest {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.can.AbstractCANTest#runMotorForward()
*/
protected void runMotorForward() {
@@ -59,7 +60,7 @@ public class CANPositionPotentiometerModeTest extends AbstractCANTest {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.can.AbstractCANTest#runMotorReverse()
*/
protected void runMotorReverse() {
@@ -85,13 +86,13 @@ public class CANPositionPotentiometerModeTest extends AbstractCANTest {
/**
* NOTICE: This is using the {@link MotorEncoderFixture#getEncoder()} instead
* of the one built into the CAN Jaguar
* NOTICE: This is using the {@link MotorEncoderFixture#getEncoder()} instead of the one built
* into the CAN Jaguar.
*/
@Ignore("Encoder is not yet wired to the FPGA")
@Test
public void testRotateForward() {
int initialPosition = getME().getEncoder().get();
final int initialPosition = getME().getEncoder().get();
/* Drive the speed controller briefly to move the encoder */
getME().getMotor().set(kStoppedValue);
Timer.delay(kMotorTimeSettling);
@@ -104,13 +105,13 @@ public class CANPositionPotentiometerModeTest extends AbstractCANTest {
}
/**
* NOTICE: This is using the {@link MotorEncoderFixture#getEncoder()} instead
* of the one built into the CAN Jaguar
* NOTICE: This is using the {@link MotorEncoderFixture#getEncoder()} instead of the one built
* into the CAN Jaguar.
*/
@Ignore("Encoder is not yet wired to the FPGA")
@Test
public void testRotateReverse() {
int initialPosition = getME().getEncoder().get();
final int initialPosition = getME().getEncoder().get();
/* Drive the speed controller briefly to move the encoder */
getME().getMotor().set(kStoppedValue);
Timer.delay(kMotorTimeSettling);
@@ -123,8 +124,8 @@ public class CANPositionPotentiometerModeTest extends AbstractCANTest {
}
/**
* Test if we can get a position in potentiometer mode, using an analog output
* as a fake potentiometer.
* Test if we can get a position in potentiometer mode, using an analog output as a fake
* potentiometer.
*/
@Test
public void testFakePotentiometerPosition() {
@@ -141,7 +142,8 @@ public class CANPositionPotentiometerModeTest extends AbstractCANTest {
public void run() throws Exception {
getME().getMotor().set(0);
assertEquals(
"CAN Jaguar should have returned the potentiometer position set by the analog output",
"CAN Jaguar should have returned the potentiometer position set by the analog "
+ "output",
getME().getFakePot().getVoltage(), getME().getMotor().getPosition() * 3,
kPotentiometerPositionTolerance * 3);
}

23
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANPositionQuadEncoderModeTest.java
View File

@@ -7,21 +7,22 @@
package edu.wpi.first.wpilibj.can;
import static org.junit.Assert.assertEquals;
import java.util.logging.Level;
import java.util.logging.Logger;
import org.junit.Before;
import org.junit.Ignore;
import org.junit.Test;
import java.util.logging.Level;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.CANJaguar;
import edu.wpi.first.wpilibj.Timer;
import static org.junit.Assert.assertEquals;
/**
* @author jonathanleitschuh
* Tests the CAN Motor Encoders in QuadEncoder mode.
*
* @author jonathanleitschuh
*/
public class CANPositionQuadEncoderModeTest extends AbstractCANTest {
private static final Logger logger = Logger.getLogger(CANPositionQuadEncoderModeTest.class
@@ -35,7 +36,7 @@ public class CANPositionQuadEncoderModeTest extends AbstractCANTest {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.can.AbstractCANTest#runMotorForward()
*/
protected void runMotorForward() {
@@ -46,7 +47,7 @@ public class CANPositionQuadEncoderModeTest extends AbstractCANTest {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.can.AbstractCANTest#runMotorReverse()
*/
protected void runMotorReverse() {
@@ -84,8 +85,7 @@ public class CANPositionQuadEncoderModeTest extends AbstractCANTest {
}
/**
* Test if we can set a position and reach that position with PID control on
* the Jaguar.
* Test if we can set a position and reach that position with PID control on the Jaguar.
*/
@Test
public void testEncoderPositionPIDForward() {
@@ -101,8 +101,7 @@ public class CANPositionQuadEncoderModeTest extends AbstractCANTest {
}
/**
* Test if we can set a position and reach that position with PID control on
* the Jaguar.
* Test if we can set a position and reach that position with PID control on the Jaguar.
*/
@Test
public void testEncoderPositionPIDReverse() {

39
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANSpeedQuadEncoderModeTest.java
View File

@@ -7,30 +7,35 @@
package edu.wpi.first.wpilibj.can;
import org.junit.Before;
import org.junit.Test;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.CANJaguar;
import edu.wpi.first.wpilibj.Timer;
import static org.hamcrest.Matchers.greaterThan;
import static org.hamcrest.Matchers.is;
import static org.hamcrest.Matchers.lessThan;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertThat;
import java.util.logging.Logger;
import org.junit.Before;
import org.junit.Test;
import edu.wpi.first.wpilibj.CANJaguar;
import edu.wpi.first.wpilibj.Timer;
/**
* @author jonathanleitschuh
* Tests the CAN Speed controllers in quad mode.
*
* @author jonathanleitschuh
*/
public class CANSpeedQuadEncoderModeTest extends AbstractCANTest {
private static final Logger logger = Logger.getLogger(CANPercentQuadEncoderModeTest.class
.getName());
/** The stopped value in rev/min */
/**
* The stopped value in rev/min.
*/
private static final double kStoppedValue = 0;
/** The running value in rev/min */
/**
* The running value in rev/min.
*/
private static final double kRunningValue = 50;
@Override
@@ -49,14 +54,14 @@ public class CANSpeedQuadEncoderModeTest extends AbstractCANTest {
@Test
public void testDefaultSpeed() {
assertEquals("CAN Jaguar did not start with an initial speed of zero", 0.0f, getME().getMotor()
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 if we can drive the motor forward in Speed mode and get a position back.
*/
@Test
public void testRotateForwardSpeed() {
@@ -70,8 +75,7 @@ public class CANSpeedQuadEncoderModeTest extends AbstractCANTest {
}
/**
* Test if we can drive the motor backwards in Speed mode and get a position
* back
* Test if we can drive the motor backwards in Speed mode and get a position back.
*/
@Test
public void testRotateReverseSpeed() {
@@ -80,7 +84,8 @@ public class CANSpeedQuadEncoderModeTest extends AbstractCANTest {
setCANJaguar(2 * 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(),
assertThat("The motor did not move in reverse in speed mode", getME().getMotor()
.getPosition(),
is(lessThan(initialPosition)));
}

3
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANTestSuite.java
View File

@@ -14,8 +14,9 @@ import org.junit.runners.Suite.SuiteClasses;
import edu.wpi.first.wpilibj.test.AbstractTestSuite;
/**
* @author jonathanleitschuh
* All of the tests to cover the CAN Motor Controllers.
*
* @author jonathanleitschuh
*/
@RunWith(Suite.class)
@SuiteClasses({CANCurrentQuadEncoderModeTest.class, CANDefaultTest.class,

53
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANVoltageQuadEncoderModeTest.java
View File

@@ -7,34 +7,39 @@
package edu.wpi.first.wpilibj.can;
import com.googlecode.junittoolbox.PollingWait;
import com.googlecode.junittoolbox.RunnableAssert;
import org.junit.Before;
import org.junit.Test;
import java.util.concurrent.TimeUnit;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.CANJaguar;
import edu.wpi.first.wpilibj.Timer;
import static org.hamcrest.Matchers.greaterThan;
import static org.hamcrest.Matchers.is;
import static org.hamcrest.Matchers.lessThan;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertThat;
import java.util.concurrent.TimeUnit;
import java.util.logging.Logger;
import org.junit.Before;
import org.junit.Test;
import com.googlecode.junittoolbox.PollingWait;
import com.googlecode.junittoolbox.RunnableAssert;
import edu.wpi.first.wpilibj.CANJaguar;
import edu.wpi.first.wpilibj.Timer;
/**
* @author jonathanleitschuh
* Tests the CAN motor controllers in voltage mode work correctly.
*
* @author Jonathan Leitschuh
*/
public class CANVoltageQuadEncoderModeTest extends AbstractCANTest {
private static final Logger logger = Logger.getLogger(CANVoltageQuadEncoderModeTest.class
.getName());
/** The stopped value in volts */
/**
* The stopped value in volts.
*/
private static final double kStoppedValue = 0;
/** The running value in volts */
/**
* The running value in volts.
*/
private static final double kRunningValue = 4;
private static final double kVoltageTolerance = .25;
@@ -44,7 +49,7 @@ public class CANVoltageQuadEncoderModeTest extends AbstractCANTest {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.can.AbstractCANTest#stopMotor()
*/
protected void stopMotor() {
@@ -53,7 +58,7 @@ public class CANVoltageQuadEncoderModeTest extends AbstractCANTest {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.can.AbstractCANTest#runMotorForward()
*/
protected void runMotorForward() {
@@ -62,7 +67,7 @@ public class CANVoltageQuadEncoderModeTest extends AbstractCANTest {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.can.AbstractCANTest#runMotorReverse()
*/
protected void runMotorReverse() {
@@ -74,8 +79,11 @@ public class CANVoltageQuadEncoderModeTest extends AbstractCANTest {
return logger;
}
/**
* Sets up the test.
*/
@Before
public void setUp() throws Exception {
public void setUp() {
getME().getMotor().setVoltageMode(CANJaguar.kQuadEncoder, 360);
getME().getMotor().set(kStoppedValue);
getME().getMotor().enableControl();
@@ -100,11 +108,10 @@ public class CANVoltageQuadEncoderModeTest extends AbstractCANTest {
/**
* Sets up the test to have the CANJaguar running at the target voltage
*$
* Sets up the test to have the CANJaguar running at the target voltage.
*
* @param targetValue the target voltage
* @param wait the PollingWait to to use to wait for the setup to complete
* with
* @param wait the PollingWait to to use to wait for the setup to complete with
*/
private void setupMotorVoltageForTest(final double targetValue, PollingWait wait) {
getME().getMotor().enableControl();

12
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/package-info.java
View File

@@ -1,9 +1,7 @@
/**
* Provides a suite of tests to cover CANJaguar fully in all different control
* modes and with each supported positional input. Different setup parameters
* are provided in each Test class. All test classes that want to take advantage
* of the default test setup frameworks in place should extend
* {@link edu.wpi.first.wpilibj.can.AbstractCANTest AbstractCANTest}
*$
* Provides a suite of tests to cover CANJaguar fully in all different control modes and with each
* supported positional input. Different setup parameters are provided in each Test class. All test
* classes that want to take advantage of the default test setup frameworks in place should extend
* {@link edu.wpi.first.wpilibj.can.AbstractCANTest AbstractCANTest}.
*/
package edu.wpi.first.wpilibj.can;
package edu.wpi.first.wpilibj.can;