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Merge "Minor updates to the C++ CANJaguar ITs"

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This commit is contained in:
Jonathan Leitschuh (WPI)
2014-07-29 12:52:17 -07:00
committed by Gerrit Code Review
parent 65607b5bc1 30c0cc0561
commit d5cd47bfa1
1 changed files with 26 additions and 33 deletions
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59
wpilibc/wpilibC++IntegrationTests/src/CANJaguarTest.cpp
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@@ -205,7 +205,7 @@ TEST_F(CANJaguarTest, SetGet) {
/**
* Test if we can drive the motor in percentage mode and get a position back
*/
TEST_F(CANJaguarTest, PercentForwards) {
TEST_F(CANJaguarTest, PercentModeForwardWorks) {
m_jaguar->SetPercentMode(CANJaguar::QuadEncoder, 360);
m_jaguar->EnableControl();
@@ -227,7 +227,7 @@ TEST_F(CANJaguarTest, PercentForwards) {
* Test if we can drive the motor backwards in percentage mode and get a
* position back
*/
TEST_F(CANJaguarTest, PercentReverse) {
TEST_F(CANJaguarTest, PercentModeReverseWorks) {
m_jaguar->SetPercentMode(CANJaguar::QuadEncoder, 360);
m_jaguar->EnableControl();
@@ -250,24 +250,25 @@ TEST_F(CANJaguarTest, PercentReverse) {
* Test if we can set an absolute voltage and receive a matching output voltage
* status.
*/
TEST_F(CANJaguarTest, Voltage) {
TEST_F(CANJaguarTest, VoltageModeWorks) {
m_jaguar->SetVoltageMode();
m_jaguar->EnableControl();
SetJaguar(kMotorTime, M_PI);
m_jaguar->Set(0.0f);
EXPECT_NEAR(M_PI, m_jaguar->GetOutputVoltage(), kVoltageTolerance);
float setpoints[] = { M_PI, 8.0f, -10.0f };
SetJaguar(kMotorTime, 8.0f);
m_jaguar->Set(0.0f);
EXPECT_NEAR(8.0f, m_jaguar->GetOutputVoltage(), kVoltageTolerance);
for(int i = 0; i < sizeof(setpoints)/sizeof(setpoints[0]); i++) {
float setpoint = setpoints[i];
SetJaguar(kMotorTime, setpoint);
EXPECT_NEAR(setpoint, m_jaguar->GetOutputVoltage(), kVoltageTolerance);
}
}
/**
* Test if we can set a speed in speed control mode and receive a matching
* speed status.
*/
TEST_F(CANJaguarTest, SpeedPID) {
TEST_F(CANJaguarTest, SpeedModeWorks) {
m_jaguar->SetSpeedMode(CANJaguar::QuadEncoder, 360, 0.1f, 0.003f, 0.01f);
m_jaguar->EnableControl();
@@ -281,7 +282,7 @@ TEST_F(CANJaguarTest, SpeedPID) {
* Test if we can set a position and reach that position with PID control on
* the Jaguar.
*/
TEST_F(CANJaguarTest, EncoderPositionPID) {
TEST_F(CANJaguarTest, PositionModeWorks) {
m_jaguar->SetPositionMode(CANJaguar::QuadEncoder, 360, 10.0f, 0.1f, 0.0f);
double setpoint = m_jaguar->GetPosition() + 10.0f;
@@ -305,35 +306,27 @@ TEST_F(CANJaguarTest, EncoderPositionPID) {
* Test if we can set a current setpoint with PID control on the Jaguar and get
* a corresponding output current
*/
TEST_F(CANJaguarTest, CurrentPID) {
TEST_F(CANJaguarTest, CurrentModeWorks) {
m_jaguar->SetCurrentMode(10.0, 4.0, 1.0);
m_jaguar->EnableControl();
float setpoint = 1.6f;
float setpoints[] = { 1.6f, 2.0f, -1.6f };
/* It should get to the setpoint within 10 seconds */
for(int i = 0; i < 10; i++) {
SetJaguar(1.0, setpoint);
for(int i = 0; i < sizeof(setpoints)/sizeof(setpoints[0]); i++) {
float setpoint = setpoints[i];
float expectedCurrent = std::abs(setpoints[i]);
if(std::abs(m_jaguar->GetOutputCurrent() - setpoint) <= kCurrentTolerance) {
break;
/* It should get to each setpoint within 10 seconds */
for(int j = 0; j < 10; j++) {
SetJaguar(1.0, setpoints[i]);
if(std::abs(m_jaguar->GetOutputCurrent() - expectedCurrent) <= kCurrentTolerance) {
break;
}
}
EXPECT_NEAR(expectedCurrent, m_jaguar->GetOutputCurrent(), kCurrentTolerance);
}
EXPECT_NEAR(setpoint, m_jaguar->GetOutputCurrent(), kCurrentTolerance);
setpoint = 2.0f;
/* It should get to the setpoint within 10 seconds */
for(int i = 0; i < 10; i++) {
SetJaguar(1.0, setpoint);
if(std::abs(m_jaguar->GetOutputCurrent() - setpoint) <= kCurrentTolerance) {
break;
}
}
EXPECT_NEAR(setpoint, m_jaguar->GetOutputCurrent(), kCurrentTolerance);
}
/**