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Fixes the MotorEncoderTest sometimes failing because a counter registers movement from the jaguar after reset.

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Change-Id: I65b24e59a902637b19b24c08f0a02b86621c5590
This commit is contained in:
Jonathan Leitschuh
2014-08-29 16:46:08 -04:00
parent 2a8ade093a
commit b1ace79379
2 changed files with 9 additions and 20 deletions
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27
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java
View File

@@ -6,6 +6,7 @@
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
@@ -69,6 +70,7 @@ public class MotorEncoderTest extends AbstractComsSetup {
@After
public void tearDown() throws Exception {
me.reset();
encodersResetCheck(me);
}
@AfterClass
@@ -105,8 +107,7 @@ public class MotorEncoderTest extends AbstractComsSetup {
assertTrue(me.getType() + " Encoder not incremented: start: "
+ startValue + "; current: " + currentValue,
startValue < currentValue);
me.reset();
encodersResetCheck(me);
}
/**
@@ -122,8 +123,6 @@ public class MotorEncoderTest extends AbstractComsSetup {
assertTrue(me.getType() + " Encoder not decremented: start: "
+ startValue + "; current: " + currentValue,
startValue > currentValue);
me.reset();
encodersResetCheck(me);
}
/**
@@ -156,7 +155,6 @@ public class MotorEncoderTest extends AbstractComsSetup {
me.getMotor().set(15);
assertTrue(me.getType() + " Motor speed was not close to 1.0, was: "
+ me.getMotor().get(), me.isMotorSpeedWithinRange(1.0, 0.001));
me.reset();
}
/**
@@ -167,7 +165,6 @@ public class MotorEncoderTest extends AbstractComsSetup {
me.getMotor().set(-15);
assertTrue(me.getType() + " Motor speed was not close to 1.0, was: "
+ me.getMotor().get(), me.isMotorSpeedWithinRange(-1.0, 0.001));
me.reset();
}
@@ -187,7 +184,6 @@ public class MotorEncoderTest extends AbstractComsSetup {
pid.onTarget());
pid.free();
me.reset();
}
@@ -196,18 +192,11 @@ public class MotorEncoderTest extends AbstractComsSetup {
* @param me The MotorEncoderFixture under test
*/
private void encodersResetCheck(MotorEncoderFixture<?> me){
int encoderVal = me.getEncoder().get();
int counterVal[] = new int[2];
for(int i = 0; i < 2; i++){
counterVal[i] = me.getCounters()[i].get();
}
double motorVal = me.getMotor().get();
assertTrue(me.getType() + " Encoder value: " + encoderVal + " when it should be 0", encoderVal == 0);
assertTrue(me.getType() + " Motor value: " + motorVal + " when it should be 0", motorVal == 0);
assertTrue(me.getType() + " Counter value " + counterVal[0] + " when is should be 0", counterVal[0] == 0);
assertTrue(me.getType() + " Counter value " + counterVal[1] + " when is should be 0", counterVal[1] == 0);
Timer.delay(.2);
assertTrue(me.getType() + " Encoder.getStopped() returned false", me.getEncoder().getStopped());
assertEquals(me.getType() + " Encoder value was incorrect after reset.", me.getEncoder().get(), 0);
assertEquals(me.getType() + " Motor value was incorrect after reset.", me.getMotor().get(), 0, 0);
assertEquals(me.getType() + " Counter1 value was incorrect after reset.", me.getCounters()[0].get(), 0);
assertEquals(me.getType() + " Counter2 value was incorrect after reset.", me.getCounters()[1].get(), 0);
assertTrue(me.getType() + " Encoder.getStopped() returned false after the motor was reset.", me.getEncoder().getStopped());
}
}

2
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java
View File

@@ -46,7 +46,7 @@ public final class TestBench {
* The time that it takes to have a motor go from rotating at full speed to
* completely stopped
*/
public static final double MOTOR_STOP_TIME = 0.20;
public static final double MOTOR_STOP_TIME = 0.25;
public static final int kTalonChannel = 10;
public static final int kVictorChannel = 1;