mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
[wpilib] Remove RobotDrive (#3295)
This has been deprecated for several years, and its functionality has been completely superseded by other drive classes (DifferentialDrive et al).
This commit is contained in:
Peter Johnson
@@ -1,187 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#include "MockSpeedController.h"
|
||||
#include "frc/RobotDrive.h"
|
||||
#include "frc/drive/DifferentialDrive.h"
|
||||
#include "frc/drive/MecanumDrive.h"
|
||||
#include "gtest/gtest.h"
|
||||
|
||||
using namespace frc;
|
||||
|
||||
class DriveTest : public testing::Test {
|
||||
protected:
|
||||
MockSpeedController m_rdFrontLeft;
|
||||
MockSpeedController m_rdRearLeft;
|
||||
MockSpeedController m_rdFrontRight;
|
||||
MockSpeedController m_rdRearRight;
|
||||
MockSpeedController m_frontLeft;
|
||||
MockSpeedController m_rearLeft;
|
||||
MockSpeedController m_frontRight;
|
||||
MockSpeedController m_rearRight;
|
||||
frc::RobotDrive m_robotDrive{m_rdFrontLeft, m_rdRearLeft, m_rdFrontRight,
|
||||
m_rdRearRight};
|
||||
frc::DifferentialDrive m_differentialDrive{m_frontLeft, m_frontRight};
|
||||
frc::MecanumDrive m_mecanumDrive{m_frontLeft, m_rearLeft, m_frontRight,
|
||||
m_rearRight};
|
||||
|
||||
double m_testJoystickValues[9] = {-1.0, -0.9, -0.5, -0.01, 0.0,
|
||||
0.01, 0.5, 0.9, 1.0};
|
||||
double m_testGyroValues[19] = {0, 45, 90, 135, 180, 225, 270,
|
||||
305, 360, 540, -45, -90, -135, -180,
|
||||
-225, -270, -305, -360, -540};
|
||||
};
|
||||
|
||||
TEST_F(DriveTest, TankDrive) {
|
||||
int joystickSize = sizeof(m_testJoystickValues) / sizeof(double);
|
||||
double leftJoystick, rightJoystick;
|
||||
m_differentialDrive.SetDeadband(0.0);
|
||||
m_differentialDrive.SetSafetyEnabled(false);
|
||||
m_mecanumDrive.SetSafetyEnabled(false);
|
||||
m_robotDrive.SetSafetyEnabled(false);
|
||||
for (int i = 0; i < joystickSize; i++) {
|
||||
for (int j = 0; j < joystickSize; j++) {
|
||||
leftJoystick = m_testJoystickValues[i];
|
||||
rightJoystick = m_testJoystickValues[j];
|
||||
m_robotDrive.TankDrive(leftJoystick, rightJoystick, false);
|
||||
m_differentialDrive.TankDrive(leftJoystick, rightJoystick, false);
|
||||
ASSERT_NEAR(m_rdFrontLeft.Get(), m_frontLeft.Get(), 0.01);
|
||||
ASSERT_NEAR(m_rdFrontRight.Get(), m_frontRight.Get(), 0.01);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
TEST_F(DriveTest, TankDriveSquared) {
|
||||
int joystickSize = sizeof(m_testJoystickValues) / sizeof(double);
|
||||
double leftJoystick, rightJoystick;
|
||||
m_differentialDrive.SetDeadband(0.0);
|
||||
m_differentialDrive.SetSafetyEnabled(false);
|
||||
m_mecanumDrive.SetSafetyEnabled(false);
|
||||
m_robotDrive.SetSafetyEnabled(false);
|
||||
for (int i = 0; i < joystickSize; i++) {
|
||||
for (int j = 0; j < joystickSize; j++) {
|
||||
leftJoystick = m_testJoystickValues[i];
|
||||
rightJoystick = m_testJoystickValues[j];
|
||||
m_robotDrive.TankDrive(leftJoystick, rightJoystick, true);
|
||||
m_differentialDrive.TankDrive(leftJoystick, rightJoystick, true);
|
||||
ASSERT_NEAR(m_rdFrontLeft.Get(), m_frontLeft.Get(), 0.01);
|
||||
ASSERT_NEAR(m_rdFrontRight.Get(), m_frontRight.Get(), 0.01);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
TEST_F(DriveTest, ArcadeDriveSquared) {
|
||||
int joystickSize = sizeof(m_testJoystickValues) / sizeof(double);
|
||||
double moveJoystick, rotateJoystick;
|
||||
m_differentialDrive.SetDeadband(0.0);
|
||||
m_differentialDrive.SetSafetyEnabled(false);
|
||||
m_mecanumDrive.SetSafetyEnabled(false);
|
||||
m_robotDrive.SetSafetyEnabled(false);
|
||||
for (int i = 0; i < joystickSize; i++) {
|
||||
for (int j = 0; j < joystickSize; j++) {
|
||||
moveJoystick = m_testJoystickValues[i];
|
||||
rotateJoystick = m_testJoystickValues[j];
|
||||
m_robotDrive.ArcadeDrive(moveJoystick, rotateJoystick, true);
|
||||
m_differentialDrive.ArcadeDrive(moveJoystick, -rotateJoystick, true);
|
||||
ASSERT_NEAR(m_rdFrontLeft.Get(), m_frontLeft.Get(), 0.01);
|
||||
ASSERT_NEAR(m_rdFrontRight.Get(), m_frontRight.Get(), 0.01);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
TEST_F(DriveTest, ArcadeDrive) {
|
||||
int joystickSize = sizeof(m_testJoystickValues) / sizeof(double);
|
||||
double moveJoystick, rotateJoystick;
|
||||
m_differentialDrive.SetDeadband(0.0);
|
||||
m_differentialDrive.SetSafetyEnabled(false);
|
||||
m_mecanumDrive.SetSafetyEnabled(false);
|
||||
m_robotDrive.SetSafetyEnabled(false);
|
||||
for (int i = 0; i < joystickSize; i++) {
|
||||
for (int j = 0; j < joystickSize; j++) {
|
||||
moveJoystick = m_testJoystickValues[i];
|
||||
rotateJoystick = m_testJoystickValues[j];
|
||||
m_robotDrive.ArcadeDrive(moveJoystick, rotateJoystick, false);
|
||||
m_differentialDrive.ArcadeDrive(moveJoystick, -rotateJoystick, false);
|
||||
ASSERT_NEAR(m_rdFrontLeft.Get(), m_frontLeft.Get(), 0.01);
|
||||
ASSERT_NEAR(m_rdFrontRight.Get(), m_frontRight.Get(), 0.01);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
TEST_F(DriveTest, MecanumCartesian) {
|
||||
int joystickSize = sizeof(m_testJoystickValues) / sizeof(double);
|
||||
int gyroSize = sizeof(m_testGyroValues) / sizeof(double);
|
||||
double xJoystick, yJoystick, rotateJoystick, gyroValue;
|
||||
m_mecanumDrive.SetDeadband(0.0);
|
||||
m_mecanumDrive.SetSafetyEnabled(false);
|
||||
m_differentialDrive.SetSafetyEnabled(false);
|
||||
m_robotDrive.SetSafetyEnabled(false);
|
||||
for (int i = 0; i < joystickSize; i++) {
|
||||
for (int j = 0; j < joystickSize; j++) {
|
||||
for (int k = 0; k < joystickSize; k++) {
|
||||
for (int l = 0; l < gyroSize; l++) {
|
||||
xJoystick = m_testJoystickValues[i];
|
||||
yJoystick = m_testJoystickValues[j];
|
||||
rotateJoystick = m_testJoystickValues[k];
|
||||
gyroValue = m_testGyroValues[l];
|
||||
m_robotDrive.MecanumDrive_Cartesian(xJoystick, yJoystick,
|
||||
rotateJoystick, gyroValue);
|
||||
m_mecanumDrive.DriveCartesian(xJoystick, -yJoystick, rotateJoystick,
|
||||
-gyroValue);
|
||||
ASSERT_NEAR(m_rdFrontLeft.Get(), m_frontLeft.Get(), 0.01)
|
||||
<< "X: " << xJoystick << " Y: " << yJoystick
|
||||
<< " Rotate: " << rotateJoystick << " Gyro: " << gyroValue;
|
||||
ASSERT_NEAR(m_rdFrontRight.Get(), -m_frontRight.Get(), 0.01)
|
||||
<< "X: " << xJoystick << " Y: " << yJoystick
|
||||
<< " Rotate: " << rotateJoystick << " Gyro: " << gyroValue;
|
||||
ASSERT_NEAR(m_rdRearLeft.Get(), m_rearLeft.Get(), 0.01)
|
||||
<< "X: " << xJoystick << " Y: " << yJoystick
|
||||
<< " Rotate: " << rotateJoystick << " Gyro: " << gyroValue;
|
||||
ASSERT_NEAR(m_rdRearRight.Get(), -m_rearRight.Get(), 0.01)
|
||||
<< "X: " << xJoystick << " Y: " << yJoystick
|
||||
<< " Rotate: " << rotateJoystick << " Gyro: " << gyroValue;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
TEST_F(DriveTest, MecanumPolar) {
|
||||
int joystickSize = sizeof(m_testJoystickValues) / sizeof(double);
|
||||
int gyroSize = sizeof(m_testGyroValues) / sizeof(double);
|
||||
double magnitudeJoystick, directionJoystick, rotateJoystick;
|
||||
m_mecanumDrive.SetDeadband(0.0);
|
||||
m_mecanumDrive.SetSafetyEnabled(false);
|
||||
m_differentialDrive.SetSafetyEnabled(false);
|
||||
m_robotDrive.SetSafetyEnabled(false);
|
||||
for (int i = 0; i < joystickSize; i++) {
|
||||
for (int j = 0; j < gyroSize; j++) {
|
||||
for (int k = 0; k < joystickSize; k++) {
|
||||
magnitudeJoystick = m_testJoystickValues[i];
|
||||
directionJoystick = m_testGyroValues[j];
|
||||
rotateJoystick = m_testJoystickValues[k];
|
||||
m_robotDrive.MecanumDrive_Polar(magnitudeJoystick, directionJoystick,
|
||||
rotateJoystick);
|
||||
m_mecanumDrive.DrivePolar(magnitudeJoystick, directionJoystick,
|
||||
rotateJoystick);
|
||||
ASSERT_NEAR(m_rdFrontLeft.Get(), m_frontLeft.Get(), 0.01)
|
||||
<< "Magnitude: " << magnitudeJoystick
|
||||
<< " Direction: " << directionJoystick
|
||||
<< " Rotate: " << rotateJoystick;
|
||||
ASSERT_NEAR(m_rdFrontRight.Get(), -m_frontRight.Get(), 0.01)
|
||||
<< "Magnitude: " << magnitudeJoystick
|
||||
<< " Direction: " << directionJoystick
|
||||
<< " Rotate: " << rotateJoystick;
|
||||
ASSERT_NEAR(m_rdRearLeft.Get(), m_rearLeft.Get(), 0.01)
|
||||
<< "Magnitude: " << magnitudeJoystick
|
||||
<< " Direction: " << directionJoystick
|
||||
<< " Rotate: " << rotateJoystick;
|
||||
ASSERT_NEAR(m_rdRearRight.Get(), -m_rearRight.Get(), 0.01)
|
||||
<< "Magnitude: " << magnitudeJoystick
|
||||
<< " Direction: " << directionJoystick
|
||||
<< " Rotate: " << rotateJoystick;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user