Adds a PIDTest to the integration tests. Contributors: Jonathan Leitschuh [artf2568]

Change-Id: Ibcbd1774360545f9d08ec3a8917613f2b2d335ee
2026-06-20 00:51:42 +00:00 · 2014-06-02 18:05:15 -04:00
parent 59a1fb2c08
commit c90c38fa25
1 changed files with 129 additions and 0 deletions
--- a/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
+++ b/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
@@ -0,0 +1,129 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2014. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj;
+
+import static org.junit.Assert.*;
+
+import java.util.Arrays;
+import java.util.Collection;
+import java.util.logging.Logger;
+
+import org.junit.After;
+import org.junit.AfterClass;
+import org.junit.Before;
+import org.junit.BeforeClass;
+import org.junit.Ignore;
+import org.junit.Test;
+import org.junit.runner.RunWith;
+import org.junit.runners.Parameterized;
+import org.junit.runners.Parameterized.Parameters;
+
+import edu.wpi.first.wpilibj.PIDSource.PIDSourceParameter;
+import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
+import edu.wpi.first.wpilibj.test.TestBench;
+
+
+/**
+ * @author Kacper Puczydlowski
+ * @author Jonathan Leitschuh
+ *
+ */
+
+@RunWith(Parameterized.class)
+public class PIDTest extends AbstractComsSetup {
+	private static final Logger logger = Logger.getLogger(PIDTest.class.getName());
+	
+	private PIDController controller = null;
+	private static MotorEncoderFixture me = null;
+	
+	public PIDTest(MotorEncoderFixture mef){
+		logger.fine("Constructor with: " + mef.getType());
+		if(PIDTest.me != null && !PIDTest.me.equals(mef)) PIDTest.me.teardown();
+		PIDTest.me = mef;
+	}
+	
+	@Parameters
+	public static Collection<MotorEncoderFixture[]> generateData(){
+		//logger.fine("Loading the MotorList");
+		return Arrays.asList(new MotorEncoderFixture[][]{
+				 {TestBench.getInstance().getTalonPair()},
+				 {TestBench.getInstance().getVictorPair()},
+				 {TestBench.getInstance().getJaguarPair()}
+			//	 TestBench.getInstance().getCanJaguarPair()
+		});
+	}
+
+	/**
+	 * @throws java.lang.Exception
+	 */
+	@BeforeClass
+	public static void setUpBeforeClass() throws Exception {
+	}
+
+	/**
+	 * @throws java.lang.Exception
+	 */
+	@AfterClass
+	public static void tearDownAfterClass() throws Exception {
+		logger.fine("TearDownAfterClass: " + me.getType());
+		me.teardown();
+	}
+
+	/**
+	 * @throws java.lang.Exception
+	 */
+	@Before
+	public void setUp() throws Exception {
+		logger.fine("Setup: " + me.getType());
+		me.setup();
+		controller = new PIDController(0.003, .001, 0, me.getEncoder(), me.getMotor());
+		controller.setAbsoluteTolerance(15);
+		controller.setOutputRange(-0.2, 0.2);
+	}
+
+	/**
+	 * @throws java.lang.Exception
+	 */
+	@After
+	public void tearDown() throws Exception {
+		logger.fine("Teardown: " + me.getType());
+		controller.disable();
+		controller.free();
+		controller = null;
+		me.reset();
+	}
+	
+	@Test
+	public void testInitialSettings(){
+		controller.disable();
+		assertTrue("PID did not start at 0", controller.getError() == 0);
+	}
+	
+	@Test
+	public void testSetSetpoint(){
+		Double setpoint = 2500.0;
+		controller.disable();
+		controller.setSetpoint(setpoint);
+		controller.enable();
+		assertEquals(setpoint, new Double(controller.getSetpoint()));
+	}
+
+	@Test (timeout = 6000)
+	public void testRotateToTarget() {
+		double setpoint = 2500;
+		System.out.println("Entering testRotateToTarget");
+		assertEquals("PID did not start at 0", 0, controller.get(), 0);
+		controller.setSetpoint(setpoint);
+		assertEquals("PID did not have an error of " + setpoint, setpoint, controller.getError(), 0);
+		controller.enable();
+		Timer.delay(5);
+		controller.disable();
+		assertTrue(controller.onTarget());
+	}
+	
+}