Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Update PCM test to check Solenoid get methods also

Browse Source 
Change-Id: Ib66973875b9289d06ab356757c6f7c574c87c8bd
This commit is contained in:
Joe Ross
2015-11-14 16:54:07 -08:00
parent ad64c0b025
commit ab90e7aa2a
2 changed files with 26 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
wpilibcIntegrationTests/src/PCMTest.cpp
View File

@@ -84,7 +84,7 @@ TEST_F(PCMTest, DISABLED_PressureSwitch) {
/**
* Test if the correct solenoids turn on and off when they should
*/
TEST_F(PCMTest, DISABLED_Solenoid) {
TEST_F(PCMTest, Solenoid) {
Reset();
Solenoid solenoid1(TestBench::kSolenoidChannel1);
Solenoid solenoid2(TestBench::kSolenoidChannel2);
@@ -95,6 +95,8 @@ TEST_F(PCMTest, DISABLED_Solenoid) {
Wait(kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
EXPECT_FALSE(solenoid2.Get()) << "Solenoid #2 did not read off";
// Turn one solenoid on and one off
solenoid1.Set(true);
@@ -102,6 +104,8 @@ TEST_F(PCMTest, DISABLED_Solenoid) {
Wait(kSolenoidDelayTime);
EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
EXPECT_TRUE(solenoid1.Get()) << "Solenoid #1 did not read on";
EXPECT_FALSE(solenoid2.Get()) << "Solenoid #2 did not read off";
// Turn one solenoid on and one off
solenoid1.Set(false);
@@ -109,6 +113,8 @@ TEST_F(PCMTest, DISABLED_Solenoid) {
Wait(kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
EXPECT_TRUE(solenoid2.Get()) << "Solenoid #2 did not read on";
// Turn both on
solenoid1.Set(true);
@@ -116,13 +122,15 @@ TEST_F(PCMTest, DISABLED_Solenoid) {
Wait(kSolenoidDelayTime);
EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
EXPECT_TRUE(solenoid1.Get()) << "Solenoid #1 did not read on";
EXPECT_TRUE(solenoid2.Get()) << "Solenoid #2 did not read on";
}
/**
* Test if the correct solenoids turn on and off when they should when used
* with the DoubleSolenoid class.
*/
TEST_F(PCMTest, DISABLED_DoubleSolenoid) {
TEST_F(PCMTest, DoubleSolenoid) {
DoubleSolenoid solenoid(TestBench::kSolenoidChannel1,
TestBench::kSolenoidChannel2);
@@ -130,14 +138,17 @@ TEST_F(PCMTest, DISABLED_DoubleSolenoid) {
Wait(kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
EXPECT_TRUE(solenoid.Get() == DoubleSolenoid::kOff) << "Solenoid does not read off";
solenoid.Set(DoubleSolenoid::kForward);
Wait(kSolenoidDelayTime);
EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
EXPECT_TRUE(solenoid.Get() == DoubleSolenoid::kForward) << "Solenoid does not read forward";
solenoid.Set(DoubleSolenoid::kReverse);
Wait(kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
EXPECT_TRUE(solenoid.Get() == DoubleSolenoid::kReverse) << "Solenoid does not read reverse";
}