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Add tests for equivilance of RobotDrive and DifferentialDrive/MecanumDrive (#732)

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Add documentation for how to get same results as RobotDrive and improve
RobotDrive documentation
This commit is contained in:
sciencewhiz
2017-11-29 21:41:00 -08:00
committed by Peter Johnson
parent e308dd28f3
commit cbd08a1e11
10 changed files with 484 additions and 21 deletions
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183
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/RobotDriveTest.java Normal file
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@@ -0,0 +1,183 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj;
import org.junit.BeforeClass;
import org.junit.Test;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.drive.MecanumDrive;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import java.util.logging.Logger;
import static org.junit.Assert.assertEquals;
/**
* Tests the eqivilance of RobotDrive and DifferentialDrive/MecanumDrive.
*/
public class RobotDriveTest extends AbstractComsSetup {
private static final Logger logger = Logger.getLogger(RobotDriveTest.class.getName());
private static MockSpeedController m_rdFrontLeft = new MockSpeedController();
private static MockSpeedController m_rdRearLeft = new MockSpeedController();
private static MockSpeedController m_rdFrontRight = new MockSpeedController();
private static MockSpeedController m_rdRearRight = new MockSpeedController();
private static MockSpeedController m_frontLeft = new MockSpeedController();
private static MockSpeedController m_rearLeft = new MockSpeedController();
private static MockSpeedController m_frontRight = new MockSpeedController();
private static MockSpeedController m_rearRight = new MockSpeedController();
private static RobotDrive m_robotDrive =
new RobotDrive(m_rdFrontLeft, m_rdRearLeft, m_rdFrontRight, m_rdRearRight);
private static DifferentialDrive m_differentialDrive =
new DifferentialDrive(m_frontLeft, m_frontRight);
private static MecanumDrive m_mecanumDrive =
new MecanumDrive(m_frontLeft, m_rearLeft, m_frontRight, m_rearRight);
private final double[] m_testJoystickValues = {1.0, 0.9, 0.5, 0.01, 0.0, -0.01, -0.5, -0.9,
-1.0};
private final double[] m_testGyroValues = {0, 30, 45, 90, 135, 180, 225, 270, 305, 360, 540,
-45, -90, -135, -180, -225, -270, -305, -360, -540};
@BeforeClass
public static void before() {
m_differentialDrive.setDeadband(0.0);
m_differentialDrive.setSafetyEnabled(false);
m_mecanumDrive.setDeadband(0.0);
m_mecanumDrive.setSafetyEnabled(false);
m_robotDrive.setSafetyEnabled(false);
}
@Test
public void testTankDriveSquared() {
for (double leftJoystick : m_testJoystickValues) {
for (double rightJoystick : m_testJoystickValues) {
m_robotDrive.tankDrive(leftJoystick, rightJoystick);
m_differentialDrive.tankDrive(leftJoystick, rightJoystick);
assertEquals("Left Motor squared didn't match. Left Joystick: " + leftJoystick
+ " Right Joystick: " + rightJoystick + " ", m_rdFrontLeft.get(), m_frontLeft.get(),
0.01);
assertEquals("Right Motor squared didn't match. Left Joystick: " + leftJoystick
+ " Right Joystick: " + rightJoystick + " ", m_rdFrontRight.get(), m_frontRight.get(),
0.01);
}
}
}
@Test
public void testTankDrive() {
for (double leftJoystick : m_testJoystickValues) {
for (double rightJoystick : m_testJoystickValues) {
m_robotDrive.tankDrive(leftJoystick, rightJoystick, false);
m_differentialDrive.tankDrive(leftJoystick, rightJoystick, false);
assertEquals("Left Motor didn't match. Left Joystick: " + leftJoystick
+ " Right Joystick: " + rightJoystick + " ", m_rdFrontLeft.get(), m_frontLeft.get(),
0.01);
assertEquals("Right Motor didn't match. Left Joystick: " + leftJoystick
+ " Right Joystick: " + rightJoystick + " ", m_rdFrontRight.get(), m_frontRight.get(),
0.01);
}
}
}
@Test
public void testArcadeDriveSquared() {
for (double moveJoystick : m_testJoystickValues) {
for (double rotateJoystick : m_testJoystickValues) {
m_robotDrive.arcadeDrive(moveJoystick, rotateJoystick);
m_differentialDrive.arcadeDrive(moveJoystick, -rotateJoystick);
assertEquals("Left Motor squared didn't match. Move Joystick: " + moveJoystick
+ " Rotate Joystick: " + rotateJoystick + " ", m_rdFrontLeft.get(), m_frontLeft.get(),
0.01);
assertEquals("Right Motor squared didn't match. Move Joystick: " + moveJoystick
+ " Rotate Joystick: " + rotateJoystick + " ", m_rdFrontRight.get(),
m_frontRight.get(), 0.01);
}
}
}
@Test
public void testArcadeDrive() {
for (double moveJoystick : m_testJoystickValues) {
for (double rotateJoystick : m_testJoystickValues) {
m_robotDrive.arcadeDrive(moveJoystick, rotateJoystick, false);
m_differentialDrive.arcadeDrive(moveJoystick, -rotateJoystick, false);
assertEquals("Left Motor didn't match. Move Joystick: " + moveJoystick
+ " Rotate Joystick: " + rotateJoystick + " ", m_rdFrontLeft.get(), m_frontLeft.get(),
0.01);
assertEquals("Right Motor didn't match. Move Joystick: " + moveJoystick
+ " Rotate Joystick: " + rotateJoystick + " ", m_rdFrontRight.get(),
m_frontRight.get(), 0.01);
}
}
}
@Test
public void testMecanumPolar() {
System.out.println("magnitudeJoystick, directionJoystick , rotationJoystick, "
+ "m_rdFrontLeft, m_frontLeft, m_rdFrontRight, m_frontRight, m_rdRearLeft, "
+ "m_rearLeft, m_rdRearRight, m_rearRight");
for (double magnitudeJoystick : m_testJoystickValues) {
for (double directionJoystick : m_testGyroValues) {
for (double rotationJoystick : m_testJoystickValues) {
m_robotDrive.mecanumDrive_Polar(magnitudeJoystick, directionJoystick, rotationJoystick);
m_mecanumDrive.drivePolar(magnitudeJoystick, directionJoystick, rotationJoystick);
assertEquals("Left Front Motor didn't match. Magnitude Joystick: " + magnitudeJoystick
+ " Direction Joystick: " + directionJoystick + " RotationJoystick: "
+ rotationJoystick, m_rdFrontLeft.get(), m_frontLeft.get(), 0.01);
assertEquals("Right Front Motor didn't match. Magnitude Joystick: " + magnitudeJoystick
+ " Direction Joystick: " + directionJoystick + " RotationJoystick: "
+ rotationJoystick, m_rdFrontRight.get(), -m_frontRight.get(), 0.01);
assertEquals("Left Rear Motor didn't match. Magnitude Joystick: " + magnitudeJoystick
+ " Direction Joystick: " + directionJoystick + " RotationJoystick: "
+ rotationJoystick, m_rdRearLeft.get(), m_rearLeft.get(), 0.01);
assertEquals("Right Rear Motor didn't match. Magnitude Joystick: " + magnitudeJoystick
+ " Direction Joystick: " + directionJoystick + " RotationJoystick: "
+ rotationJoystick, m_rdRearRight.get(), -m_rearRight.get(), 0.01);
}
}
}
}
@Test
@SuppressWarnings("checkstyle:LocalVariableName")
public void testMecanumCartesian() {
for (double x_Joystick : m_testJoystickValues) {
for (double y_Joystick : m_testJoystickValues) {
for (double rotationJoystick : m_testJoystickValues) {
for (double gyroValue : m_testGyroValues) {
m_robotDrive.mecanumDrive_Cartesian(x_Joystick, y_Joystick, rotationJoystick,
gyroValue);
m_mecanumDrive.driveCartesian(x_Joystick, -y_Joystick, rotationJoystick, -gyroValue);
assertEquals("Left Front Motor didn't match. X Joystick: " + x_Joystick
+ " Y Joystick: " + y_Joystick + " RotationJoystick: "
+ rotationJoystick + " Gyro: " + gyroValue, m_rdFrontLeft.get(),
m_frontLeft.get(), 0.01);
assertEquals("Right Front Motor didn't match. X Joystick: " + x_Joystick
+ " Y Joystick: " + y_Joystick + " RotationJoystick: "
+ rotationJoystick + " Gyro: " + gyroValue, m_rdFrontRight.get(),
-m_frontRight.get(), 0.01);
assertEquals("Left Rear Motor didn't match. X Joystick: " + x_Joystick
+ " Y Joystick: " + y_Joystick + " RotationJoystick: "
+ rotationJoystick + " Gyro: " + gyroValue, m_rdRearLeft.get(),
m_rearLeft.get(), 0.01);
assertEquals("Right Rear Motor didn't match. X Joystick: " + x_Joystick
+ " Y Joystick: " + y_Joystick + " RotationJoystick: "
+ rotationJoystick + " Gyro: " + gyroValue, m_rdRearRight.get(),
-m_rearRight.get(), 0.01);
}
}
}
}
}
protected Logger getClassLogger() {
return logger;
}
}

2
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/WpiLibJTestSuite.java
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@@ -25,6 +25,6 @@ import edu.wpi.first.wpilibj.test.AbstractTestSuite;
EncoderTest.class, FilterNoiseTest.class, FilterOutputTest.class, GyroTest.class,
MotorEncoderTest.class, MotorInvertingTest.class, PCMTest.class, PDPTest.class,
PIDTest.class, PIDToleranceTest.class, PreferencesTest.class, RelayCrossConnectTest.class,
SampleTest.class, TimerTest.class})
RobotDriveTest.class, SampleTest.class, TimerTest.class})
public class WpiLibJTestSuite extends AbstractTestSuite {
}