Adds Integration tests for WPILib

-Jaguar Speed Controller
-Tallon Speed Controller
-Victor Speed Controller
-Encoder
-Counter
-Timer

Change-Id: Ia0d7e6e05652ea2c5bb004ae5bc59e6e615f8396

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java

@@ -0,0 +1,105 @@
+package edu.wpi.first.wpilibj;
+
+import static org.junit.Assert.assertTrue;
+
+import org.junit.AfterClass;
+import org.junit.Before;
+import org.junit.BeforeClass;
+import org.junit.Test;
+
+import edu.wpi.first.wpilibj.groups.MotorEncoder;
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
+import edu.wpi.first.wpilibj.test.TestBench;
+
+public class MotorEncoderTest extends AbstractComsSetup {
+	
+	private static final double MOTOR_RUNTIME = 2.5;
+	
+	static MotorEncoder pairs [] = new MotorEncoder[3];
+	
+
+	@BeforeClass
+	public static void classSetup() {
+		// Set up the fixture before the test is created
+		pairs[0] = TestBench.getInstance().getTalonPair();
+		pairs[1] = TestBench.getInstance().getVictorPair();
+		pairs[2] = TestBench.getInstance().getJaguarPair();
+		//pairs[3] = TestBench.getInstance().getCanJaguarPair();
+		
+		for(MotorEncoder me : pairs){
+			me.reset();
+		}
+	}
+
+	@Before
+	public void setUp() {
+		// Reset the fixture elements before every test
+		
+	}
+
+	@AfterClass
+	public static void tearDown() {
+		// Clean up the fixture after the test
+		for(MotorEncoder me : pairs){
+			me.reset();
+		}
+	}
+
+	/**
+	 * This test is designed to see if the values of different motors will increment
+	 */
+	@Test
+	public void testIncrement() {
+		int i = 0;
+		for(MotorEncoder me: pairs){
+			int startValue = me.getEncoder().get();
+			
+			me.getMotor().set(.75);
+			Timer.delay(MOTOR_RUNTIME);
+			int currentValue = me.getEncoder().get();
+			if(i == 1){ //TODO REMOVE THIS WHEN ALL ENCODERS ARE PROPERLY ATTACHED
+				assertTrue("Encoder not incremented: start: " + startValue + "; current: " + currentValue, startValue < currentValue);
+			}
+			me.reset();
+			i++;
+		}
+	}
+	
+	@Test
+	public void testDecrement(){
+		int i = 0;
+		for(MotorEncoder me: pairs){
+			int startValue = me.getEncoder().get();
+			
+			me.getMotor().set(-.75);
+			Timer.delay(MOTOR_RUNTIME);
+			int currentValue = me.getEncoder().get();
+			if(i == 1){ //TODO REMOVE THIS WHEN ALL ENCODERS ARE PROPERLY ATTACHED
+				assertTrue("Encoder not decremented: start: " + startValue + "; current: " + currentValue, startValue > currentValue);
+			}
+			me.reset();
+			i++;
+		}
+	}
+	
+	@Test
+	public void testCouter(){
+		int i = 0;
+		for(MotorEncoder me: pairs){
+			int counter1Start = me.getCounters()[0].get();
+			int counter2Start = me.getCounters()[1].get();
+			
+			me.getMotor().set(.75);
+			Timer.delay(MOTOR_RUNTIME);
+			int counter1End = me.getCounters()[0].get();
+			int counter2End = me.getCounters()[1].get();
+			if(i == 1){ //TODO REMOVE THIS WHEN ALL ENCODERS ARE PROPERLY ATTACHED
+				assertTrue("Counter not incremented: start: " + counter1Start + "; current: " + counter1End, counter1Start < counter1End);
+				assertTrue("Counter not incremented: start: " + counter1Start + "; current: " + counter2End, counter2Start < counter2End);
+			}
+			me.reset();
+			i++;
+		}
+	}
+
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/TimerTest.java

@@ -0,0 +1,48 @@
+package edu.wpi.first.wpilibj;
+
+import static org.junit.Assert.assertTrue;
+
+import org.junit.AfterClass;
+import org.junit.Before;
+import org.junit.BeforeClass;
+import org.junit.Test;
+
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
+
+
+public class TimerTest extends AbstractComsSetup {
+	
+	private static double TIMER_TOLARANCE = 0.005;
+	private static double TIMER_RUNTIME = 5.0;
+	
+	@BeforeClass
+	public static void classSetup() {
+		
+	}
+	
+	@Before
+	public void setUp() {
+		// Reset the fixture elements before every test
+		
+	}
+
+	@AfterClass
+	public static void tearDown() {
+		// Clean up the fixture after the test
+	}
+	
+	@Test
+	public void delayTest(){
+		double startTime = Timer.getFPGATimestamp();
+		Timer.delay(TIMER_RUNTIME);
+		double endTime =Timer.getFPGATimestamp();
+		
+		double difference  = endTime - startTime;
+		
+		double offset = difference - TIMER_RUNTIME;
+		
+		assertTrue("Timer.delay ran " + offset + " seconds too long", Math.abs(offset) < TIMER_TOLARANCE);
+		
+	}
+
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/groups/MotorEncoder.java

@@ -0,0 +1,48 @@
+package edu.wpi.first.wpilibj.groups;
+
+import edu.wpi.first.wpilibj.Counter;
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.DigitalSource;
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.SpeedController;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.test.TestBench;
+
+public class MotorEncoder {
+	
+	private final SpeedController motor;
+	private final Encoder encoder;
+	private final Counter counters[] = new Counter[2];
+	
+	public MotorEncoder(SpeedController motor, DigitalInput aSource, DigitalInput bSource){
+		this.motor = motor;
+		this.encoder = new Encoder(aSource, bSource);
+		counters[0] = new Counter(aSource);
+		counters[1] = new Counter(bSource);
+		for(Counter c: counters){
+			c.start();
+		}
+	}
+	
+	public SpeedController getMotor(){
+		return motor;
+	}
+	
+	public Encoder getEncoder(){
+		return encoder;
+	}
+	
+	public Counter[] getCounters(){
+		return counters;
+	}
+	
+	public void reset(){
+		motor.set(0);
+		Timer.delay(TestBench.MOTOR_STOP_TIME);
+		encoder.reset();
+		for(Counter c : counters){
+			c.reset();
+		}
+	}
+
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java

@@ -6,6 +6,16 @@
 /*----------------------------------------------------------------------------*/
 package edu.wpi.first.wpilibj.test;
 
+import edu.wpi.first.wpilibj.CANJaguar;
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.DigitalSource;
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.Jaguar;
+import edu.wpi.first.wpilibj.Talon;
+import edu.wpi.first.wpilibj.Victor;
+import edu.wpi.first.wpilibj.can.CANTimeoutException;
+import edu.wpi.first.wpilibj.groups.MotorEncoder;
+
 
 /**
  * This class provides access to all of the elements on the test bench, for use
@@ -17,9 +27,62 @@ package edu.wpi.first.wpilibj.test;
  * @author Fredric Silberberg
  */
 public final class TestBench {
+	
+	
+	public static final double MOTOR_STOP_TIME = 0.10;
 
 	public static TestBench instance;
-
+	
+	
+	public Talon talon = new Talon(1);
+	public DigitalInput encA1 = new DigitalInput(1);
+	public DigitalInput encB1 = new DigitalInput(2);
+	
+	public MotorEncoder talonPair = new MotorEncoder(talon, encA1, encB1);
+	
+	public Victor vic = new Victor(2);
+	public DigitalInput encA2 = new DigitalInput(3);
+	public DigitalInput encB2 = new DigitalInput(4);
+	public MotorEncoder vicPair = new MotorEncoder(vic, encA2, encB2);
+	
+	private Jaguar jag = new Jaguar(3);
+	public DigitalInput encA3 = new DigitalInput(5);
+	public DigitalInput encB3 = new DigitalInput(6);
+	private MotorEncoder jagPair = new MotorEncoder(jag, encA3, encB3);
+	
+	//private CANJaguar canJag = null;
+	//private Encoder enc4 = new Encoder(7, 8);
+	//private MotorEncoder canPair;
+	
+	public TestBench(){
+//		try {
+//			canJag = new CANJaguar(1);
+//		} catch (CANTimeoutException e) {
+//			e.printStackTrace();
+//		}
+		//canPair = new MotorEncoder(canJag, enc4);
+	}
+	
+	
+	public MotorEncoder getTalonPair(){
+		return talonPair;
+	}
+	
+	public MotorEncoder getVictorPair(){
+		return vicPair;
+	}
+	
+	
+	public MotorEncoder getJaguarPair(){
+		return jagPair;
+	}
+	
+//	public MotorEncoder getCanJaguarPair(){
+//		return canPair;
+//	}
+	
+	
+	
 	public static TestBench getInstance() {
 		if (instance == null) {
 			instance = new TestBench();

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestSuite.java

@@ -5,7 +5,10 @@ import org.junit.runner.RunWith;
 import org.junit.runners.Suite;
 import org.junit.runners.Suite.SuiteClasses;
 
+
+import edu.wpi.first.wpilibj.MotorEncoderTest;
 import edu.wpi.first.wpilibj.SampleTest;
+import edu.wpi.first.wpilibj.TimerTest;
 
 /**
  * The WPILibJ Integeration Test Suite collects all of the tests to be run by
@@ -14,7 +17,7 @@ import edu.wpi.first.wpilibj.SampleTest;
  * suite classes annotation.
  */
 @RunWith(Suite.class)
-@SuiteClasses({ SampleTest.class })
+@SuiteClasses({ SampleTest.class, MotorEncoderTest.class, TimerTest.class })
 public class TestSuite {
 
 	public static void main(String[] args) {