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Add gyro and accelerometer simulator wrappers (#1183)

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This commit is contained in:
PJ Reiniger
2018-08-02 00:39:20 -04:00
committed by Peter Johnson
parent 0a0d9245e2
commit c2ceebfb9c
19 changed files with 663 additions and 23 deletions
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53
simulation/lowfi_simulation/src/test/native/cpp/lowfisim/AccelerometerSimulatorTest.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "ADXL345_I2CAccelerometerData.h"
#include "frc/ADXL345_I2C.h"
#include "gtest/gtest.h"
#include "lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.h"
TEST(AccelerometerTests, TestADXL345_I2CAccelerometerWrapper) {
const double EPSILON = 1 / 256.0;
frc::I2C::Port port = frc::I2C::kOnboard;
frc::ADXL345_I2C accel{port};
EXPECT_NEAR(0, accel.GetX(), EPSILON);
EXPECT_NEAR(0, accel.GetY(), EPSILON);
EXPECT_NEAR(0, accel.GetZ(), EPSILON);
hal::ADXL345_I2CData rawAdxSim(port);
frc::sim::lowfi::ADXLThreeAxisAccelerometerSim accelerometerSim(rawAdxSim);
frc::sim::lowfi::AccelerometerSim& xWrapper = accelerometerSim.GetXWrapper();
frc::sim::lowfi::AccelerometerSim& yWrapper = accelerometerSim.GetYWrapper();
frc::sim::lowfi::AccelerometerSim& zWrapper = accelerometerSim.GetZWrapper();
xWrapper.SetAcceleration(1.45);
EXPECT_NEAR(1.45, accel.GetX(), EPSILON);
EXPECT_NEAR(0, accel.GetY(), EPSILON);
EXPECT_NEAR(0, accel.GetZ(), EPSILON);
EXPECT_NEAR(1.45, xWrapper.GetAcceleration(), EPSILON);
EXPECT_NEAR(0, yWrapper.GetAcceleration(), EPSILON);
EXPECT_NEAR(0, zWrapper.GetAcceleration(), EPSILON);
yWrapper.SetAcceleration(-.67);
EXPECT_NEAR(1.45, accel.GetX(), EPSILON);
EXPECT_NEAR(-.67, accel.GetY(), EPSILON);
EXPECT_NEAR(0, accel.GetZ(), EPSILON);
EXPECT_NEAR(1.45, xWrapper.GetAcceleration(), EPSILON);
EXPECT_NEAR(-.67, yWrapper.GetAcceleration(), EPSILON);
EXPECT_NEAR(0, zWrapper.GetAcceleration(), EPSILON);
zWrapper.SetAcceleration(2.42);
EXPECT_NEAR(1.45, accel.GetX(), EPSILON);
EXPECT_NEAR(-.67, accel.GetY(), EPSILON);
EXPECT_NEAR(2.42, accel.GetZ(), EPSILON);
EXPECT_NEAR(1.45, xWrapper.GetAcceleration(), EPSILON);
EXPECT_NEAR(-.67, yWrapper.GetAcceleration(), EPSILON);
EXPECT_NEAR(2.42, zWrapper.GetAcceleration(), EPSILON);
}

40
simulation/lowfi_simulation/src/test/native/cpp/lowfisim/GyroSimulatorTest.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "ADXRS450_SpiGyroWrapperData.h"
#include "frc/ADXRS450_Gyro.h"
#include "frc/AnalogGyro.h"
#include "gtest/gtest.h"
#include "lowfisim/wpisimulators/ADXRS450_SpiGyroSim.h"
#include "lowfisim/wpisimulators/WpiAnalogGyroSim.h"
void TestGyro(frc::sim::lowfi::GyroSim& sim, frc::Gyro& gyro) {
const double EPSILON = .00001;
EXPECT_NEAR(0, gyro.GetAngle(), EPSILON);
EXPECT_NEAR(0, sim.GetAngle(), EPSILON);
sim.SetAngle(45.13);
EXPECT_NEAR(45.13, gyro.GetAngle(), EPSILON);
EXPECT_NEAR(45.13, sim.GetAngle(), EPSILON);
}
TEST(GyroSimulatorTests, TestAnalogGyro) {
int port = 1;
frc::AnalogGyro gyro{port};
frc::sim::lowfi::WpiAnalogGyroSim sim{port};
TestGyro(sim, gyro);
}
TEST(GyroSimulatorTests, TestSpiGyro) {
frc::SPI::Port port = frc::SPI::kOnboardCS0;
frc::sim::lowfi::ADXRS450_SpiGyroSim sim{port};
frc::ADXRS450_Gyro gyro{port};
TestGyro(sim, gyro);
}