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Add delays to make C++ ITs more reliable

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Also disable PCM tests until it's actually wired right

Change-Id: I431031f66aaaa87fa201e577fedef5a1952c1bb4
This commit is contained in:
Thomas Clark
2014-08-15 11:22:01 -04:00
parent 6b3e2690d0
commit d466d17edd
6 changed files with 46 additions and 33 deletions
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45
wpilibc/wpilibC++IntegrationTests/src/MotorEncoderTest.cpp
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@@ -17,7 +17,7 @@ std::ostream &operator<<(std::ostream &os, MotorEncoderTestType const &type) {
case TEST_JAGUAR: os << "Jaguar"; break;
case TEST_TALON: os << "Talon"; break;
}
return os;
}
@@ -32,7 +32,7 @@ class MotorEncoderTest : public testing::TestWithParam<MotorEncoderTestType> {
protected:
SpeedController *m_speedController;
Encoder *m_encoder;
virtual void SetUp() {
switch(GetParam()) {
case TEST_VICTOR:
@@ -40,27 +40,27 @@ protected:
m_encoder = new Encoder(TestBench::kVictorEncoderChannelA,
TestBench::kVictorEncoderChannelB);
break;
case TEST_JAGUAR:
m_speedController = new Jaguar(TestBench::kJaguarChannel);
m_encoder = new Encoder(TestBench::kJaguarEncoderChannelA,
TestBench::kJaguarEncoderChannelB);
break;
case TEST_TALON:
m_speedController = new Talon(TestBench::kTalonChannel);
m_encoder = new Encoder(TestBench::kTalonEncoderChannelA,
TestBench::kTalonEncoderChannelB);
break;
}
}
virtual void TearDown() {
delete m_speedController;
delete m_encoder;
}
void Reset() {
m_speedController->Set(0.0f);
m_encoder->Reset();
@@ -73,12 +73,12 @@ protected:
*/
TEST_P(MotorEncoderTest, Increment) {
Reset();
/* Drive the speed controller briefly to move the encoder */
m_speedController->Set(1.0);
Wait(kMotorTime);
m_speedController->Set(0.0);
/* The encoder should be positive now */
EXPECT_GT(m_encoder->Get(), 0)
<< "Encoder should have incremented after the motor moved";
@@ -90,12 +90,12 @@ TEST_P(MotorEncoderTest, Increment) {
*/
TEST_P(MotorEncoderTest, Decrement) {
Reset();
/* Drive the speed controller briefly to move the encoder */
m_speedController->Set(-1.0f);
Wait(kMotorTime);
m_speedController->Set(0.0f);
/* The encoder should be positive now */
EXPECT_LT(m_encoder->Get(), 0.0f)
<< "Encoder should have decremented after the motor moved";
@@ -106,15 +106,15 @@ TEST_P(MotorEncoderTest, Decrement) {
*/
TEST_P(MotorEncoderTest, ClampSpeed) {
Reset();
m_speedController->Set(2.0f);
Wait(kMotorTime);
EXPECT_FLOAT_EQ(1.0f, m_speedController->Get());
m_speedController->Set(-2.0f);
Wait(kMotorTime);
EXPECT_FLOAT_EQ(-1.0f, m_speedController->Get());
}
@@ -123,19 +123,19 @@ TEST_P(MotorEncoderTest, ClampSpeed) {
*/
TEST_P(MotorEncoderTest, PIDController) {
Reset();
PIDController pid(0.003f, 0.001f, 0.0f, m_encoder, m_speedController);
pid.SetAbsoluteTolerance(20.0f);
pid.SetOutputRange(-0.2f, 0.2f);
pid.SetSetpoint(2500);
/* 5 seconds should be plenty time to get to the setpoint */
/* 10 seconds should be plenty time to get to the setpoint */
pid.Enable();
Wait(5.0);
Wait(10.0);
pid.Disable();
RecordProperty("PID Error", pid.GetError());
EXPECT_TRUE(pid.OnTarget()) << "PID loop did not converge within 5 seconds.";
}
@@ -144,10 +144,9 @@ TEST_P(MotorEncoderTest, PIDController) {
*/
TEST_P(MotorEncoderTest, Reset) {
Reset();
EXPECT_EQ(0, m_encoder->Get()) << "Encoder did not reset to 0";
}
INSTANTIATE_TEST_CASE_P(Test, MotorEncoderTest,
testing::Values(TEST_VICTOR, TEST_JAGUAR, TEST_TALON));