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AnalogTrigger support in Java

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Analog triggers now work in Java.

Integration tests for analog triggers are included.

A message in the C++ analog trigger IT was fixed.

Change-Id: I50007c6901b8391d32c0e81becdbe18e48a7840f
This commit is contained in:
Thomas Clark
2014-08-01 12:39:19 -04:00
parent 38583789be
commit ba4e74d299
4 changed files with 179 additions and 51 deletions
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85
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AnalogCrossConnectTest.java
View File

@@ -26,11 +26,11 @@ import edu.wpi.first.wpilibj.test.TestBench;
*/
public class AnalogCrossConnectTest extends AbstractComsSetup {
private static final Logger logger = Logger.getLogger(AnalogCrossConnectTest.class.getName());
private static AnalogCrossConnectFixture analogIO;
static final double kDelayTime = 0.05;
static final double kDelayTime = 0.01;
@Override
protected Logger getClassLogger() {
return logger;
@@ -72,11 +72,82 @@ public class AnalogCrossConnectTest extends AbstractComsSetup {
public void testAnalogOuput() {
for(int i = 0; i < 50; i++) {
analogIO.getOutput().setVoltage(i / 10.0f);
Timer.delay(kDelayTime);
assertEquals(analogIO.getOutput().getVoltage(), analogIO.getInput().getVoltage(), 0.01);
Timer.delay(kDelayTime);
assertEquals(analogIO.getOutput().getVoltage(), analogIO.getInput().getVoltage(), 0.01);
}
}
@Test
public void testAnalogTriggerBelowWindow() {
// Given
AnalogTrigger trigger = new AnalogTrigger(analogIO.getInput());
trigger.setLimitsVoltage(2.0f, 3.0f);
// When the output voltage is than less the lower limit
analogIO.getOutput().setVoltage(1.0f);
Timer.delay(kDelayTime);
// Then the analog trigger is not in the window and the trigger state is off
assertFalse("Analog trigger is in the window (2V, 3V)", trigger.getInWindow());
assertFalse("Analog trigger is on", trigger.getTriggerState());
trigger.free();
}
@Test
public void testAnalogTriggerInWindow() {
// Given
AnalogTrigger trigger = new AnalogTrigger(analogIO.getInput());
trigger.setLimitsVoltage(2.0f, 3.0f);
// When the output voltage is within the lower and upper limits
analogIO.getOutput().setVoltage(2.5f);
Timer.delay(kDelayTime);
// Then the analog trigger is in the window and the trigger state is off
assertTrue("Analog trigger is not in the window (2V, 3V)", trigger.getInWindow());
assertFalse("Analog trigger is on", trigger.getTriggerState());
trigger.free();
}
@Test
public void testAnalogTriggerAboveWindow() {
// Given
AnalogTrigger trigger = new AnalogTrigger(analogIO.getInput());
trigger.setLimitsVoltage(2.0f, 3.0f);
// When the output voltage is greater than the upper limit
analogIO.getOutput().setVoltage(4.0f);
Timer.delay(kDelayTime);
// Then the analog trigger is not in the window and the trigger state is on
assertFalse("Analog trigger is in the window (2V, 3V)", trigger.getInWindow());
assertTrue("Analog trigger is not on", trigger.getTriggerState());
trigger.free();
}
@Test
public void testAnalogTriggerCounter() {
// Given
AnalogTrigger trigger = new AnalogTrigger(analogIO.getInput());
trigger.setLimitsVoltage(2.0f, 3.0f);
Counter counter = new Counter(trigger);
// When the analog output is turned low and high 50 times
for(int i = 0; i < 50; i++) {
analogIO.getOutput().setVoltage(1.0);
Timer.delay(kDelayTime);
analogIO.getOutput().setVoltage(4.0);
Timer.delay(kDelayTime);
}
// Then the counter should be at 50
assertEquals("Analog trigger counter did not count 50 ticks", 50, counter.get());
}
@Test(expected=RuntimeException.class)
public void testRuntimeExceptionOnInvalidAccumulatorPort(){
analogIO.getInput().getAccumulatorCount();