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Artf4776 Fixes First DIO PWM usage errors

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Adds Java and C++ integration tests for testing DIO PWM

Change-Id: Iae32b57636a9648b92e8e0520f6cbba4c3c377ca
This commit is contained in:
thouse
2015-12-21 22:25:53 -08:00
committed by Thad House
parent 083c90d377
commit dbba4a1036
3 changed files with 110 additions and 5 deletions
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55
wpilibcIntegrationTests/src/DIOLoopTest.cpp
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@@ -8,6 +8,7 @@
#include <Counter.h>
#include <DigitalInput.h>
#include <DigitalOutput.h>
#include <InterruptableSensorBase.h>
#include <Timer.h>
#include "gtest/gtest.h"
#include "TestBench.h"
@@ -58,6 +59,60 @@ TEST_F(DIOLoopTest, Loop) {
EXPECT_TRUE(m_input->Get()) << "The digital output was turned on, but "
<< "the digital input is off.";
}
/**
* Tests to see if the DIO PWM functionality works.
*/
TEST_F(DIOLoopTest, DIOPWM) {
Reset();
m_output->Set(false);
Wait(kDelayTime);
EXPECT_FALSE(m_input->Get()) << "The digital output was turned off, but "
<< "the digital input is on.";
//Set frequency to 2.0 Hz
m_output->SetPWMRate(2.0);
//Enable PWM, but leave it off
m_output->EnablePWM(0.0);
Wait(0.5);
m_output->UpdateDutyCycle(0.5);
m_input->RequestInterrupts();
m_input->SetUpSourceEdge(false, true);
InterruptableSensorBase::WaitResult result = m_input->WaitForInterrupt(3.0, true);
Wait(0.5);
bool firstCycle = m_input->Get();
Wait(0.5);
bool secondCycle = m_input->Get();
Wait(0.5);
bool thirdCycle = m_input->Get();
Wait(0.5);
bool forthCycle = m_input->Get();
Wait(0.5);
bool fifthCycle = m_input->Get();
Wait(0.5);
bool sixthCycle = m_input->Get();
Wait(0.5);
bool seventhCycle = m_input->Get();
m_output->DisablePWM();
Wait(0.5);
bool firstAfterStop = m_input->Get();
Wait(0.5);
bool secondAfterStop = m_input->Get();
EXPECT_EQ(InterruptableSensorBase::WaitResult::kFallingEdge, result)
<< "WaitForInterrupt was not falling.";
EXPECT_FALSE(firstCycle) << "Input not low after first delay";
EXPECT_TRUE(secondCycle) << "Input not high after second delay";
EXPECT_FALSE(thirdCycle) << "Input not low after third delay";
EXPECT_TRUE(forthCycle) << "Input not high after forth delay";
EXPECT_FALSE(fifthCycle) << "Input not low after fifth delay";
EXPECT_TRUE(sixthCycle) << "Input not high after sixth delay";
EXPECT_FALSE(seventhCycle) << "Input not low after seventh delay";
EXPECT_FALSE(firstAfterStop) << "Input not low after stopping first read";
EXPECT_FALSE(secondAfterStop) << "Input not low after stopping second read";
}
/**
* Test a fake "counter" that uses the DIO loop as an input to make sure the