Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-29 02:21:44 +00:00
Code Issues Packages Projects Releases Wiki Activity

Fixed DoubleSolenoid, added a double solenoid test

Browse Source 
Change-Id: I161337c8b528be7662650889d6ab7bcd2bbe2704

Fixed double solenoid, added a C++ test

Change-Id: Ib0821155efce85be87d354fc8e197fcc4deabd7c
This commit is contained in:
Thomas Clark
2014-08-05 15:21:12 -04:00
parent 1ce03b9c46
commit deb335d96d
4 changed files with 95 additions and 75 deletions
Download Patch File Download Diff File Expand all files Collapse all files

158
wpilibc/wpilibC++IntegrationTests/src/PCMTest.cpp
View File

@@ -10,110 +10,126 @@
#include "TestBench.h"
/* The PCM switches the compressor up to 2 seconds after the pressure switch
changes. */
changes. */
static const double kCompressorDelayTime = 2.0;
/* Solenoids should change much more quickly */
static const double kSolenoidDelayTime = 0.1;
/* The voltage divider on the test bench should bring the compressor output
to around these values. */
to around these values. */
static const double kCompressorOnVoltage = 5.00;
static const double kCompressorOffVoltage = 1.68;
class PCMTest : public testing::Test {
protected:
Compressor *m_compressor;
Compressor *m_compressor;
DigitalOutput *m_fakePressureSwitch;
AnalogInput *m_fakeCompressor;
DigitalOutput *m_fakePressureSwitch;
AnalogInput *m_fakeCompressor;
DoubleSolenoid *m_doubleSolenoid;
DigitalInput *m_fakeSolenoid1, *m_fakeSolenoid2;
Solenoid *m_solenoid1, *m_solenoid2;
DigitalInput *m_fakeSolenoid1, *m_fakeSolenoid2;
virtual void SetUp() {
m_compressor = new Compressor();
virtual void SetUp() {
m_compressor = new Compressor();
m_fakePressureSwitch = new DigitalOutput(TestBench::kFakePressureSwitchChannel);
m_fakeCompressor = new AnalogInput(TestBench::kFakeCompressorChannel);
m_fakeSolenoid1 = new DigitalInput(TestBench::kFakeSolenoid1Channel);
m_fakeSolenoid2 = new DigitalInput(TestBench::kFakeSolenoid2Channel);
}
m_fakePressureSwitch = new DigitalOutput(TestBench::kFakePressureSwitchChannel);
m_fakeCompressor = new AnalogInput(TestBench::kFakeCompressorChannel);
virtual void TearDown() {
delete m_compressor;
delete m_fakePressureSwitch;
delete m_fakeCompressor;
delete m_fakeSolenoid1;
delete m_fakeSolenoid2;
}
m_solenoid1 = new Solenoid(7);
m_solenoid2 = new Solenoid(6);
m_fakeSolenoid1 = new DigitalInput(TestBench::kFakeSolenoid1Channel);
m_fakeSolenoid2 = new DigitalInput(TestBench::kFakeSolenoid2Channel);
}
virtual void TearDown() {
delete m_compressor;
delete m_fakePressureSwitch;
delete m_fakeCompressor;
delete m_solenoid1;
delete m_solenoid2;
delete m_fakeSolenoid1;
delete m_fakeSolenoid2;
}
void Reset() {
m_compressor->Stop();
m_fakePressureSwitch->Set(false);
m_solenoid1->Set(false);
m_solenoid2->Set(false);
}
void Reset() {
m_compressor->Stop();
m_fakePressureSwitch->Set(false);
}
};
/**
* Test if the compressor turns on and off when the pressure switch is toggled
*/
TEST_F(PCMTest, PressureSwitch) {
Reset();
Reset();
m_compressor->SetClosedLoopControl(true);
m_compressor->SetClosedLoopControl(true);
// Turn on the compressor
m_fakePressureSwitch->Set(true);
Wait(kCompressorDelayTime);
EXPECT_NEAR(kCompressorOnVoltage, m_fakeCompressor->GetVoltage(), 0.1)
<< "Compressor did not turn on when the pressure switch turned on.";
// Turn on the compressor
m_fakePressureSwitch->Set(true);
Wait(kCompressorDelayTime);
EXPECT_NEAR(kCompressorOnVoltage, m_fakeCompressor->GetVoltage(), 0.1)
<< "Compressor did not turn on when the pressure switch turned on.";
// Turn off the compressor
m_fakePressureSwitch->Set(false);
Wait(kCompressorDelayTime);
EXPECT_NEAR(kCompressorOffVoltage, m_fakeCompressor->GetVoltage(), 0.1)
<< "Compressor did not turn off when the pressure switch turned off.";
// Turn off the compressor
m_fakePressureSwitch->Set(false);
Wait(kCompressorDelayTime);
EXPECT_NEAR(kCompressorOffVoltage, m_fakeCompressor->GetVoltage(), 0.1)
<< "Compressor did not turn off when the pressure switch turned off.";
}
/**
* Test if the correct solenoids turn on and off when they should
*/
TEST_F(PCMTest, Solenoid) {
Reset();
Reset();
Solenoid solenoid1(TestBench::kSolenoidChannel1);
Solenoid solenoid2(TestBench::kSolenoidChannel2);
// Turn both solenoids off
m_solenoid1->Set(false);
m_solenoid2->Set(false);
Wait(kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
// Turn both solenoids off
solenoid1.Set(false);
solenoid2.Set(false);
Wait(kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
// Turn one solenoid on and one off
m_solenoid1->Set(true);
m_solenoid2->Set(false);
Wait(kSolenoidDelayTime);
EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
// Turn one solenoid on and one off
solenoid1.Set(true);
solenoid2.Set(false);
Wait(kSolenoidDelayTime);
EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
// Turn one solenoid on and one off
m_solenoid1->Set(false);
m_solenoid2->Set(true);
Wait(kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
// Turn one solenoid on and one off
solenoid1.Set(false);
solenoid2.Set(true);
Wait(kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
// Turn both on
m_solenoid1->Set(true);
m_solenoid2->Set(true);
Wait(kSolenoidDelayTime);
EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
// Turn both on
solenoid1.Set(true);
solenoid2.Set(true);
Wait(kSolenoidDelayTime);
EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
}
/**
* Test if the correct solenoids turn on and off when they should when used
* with the DoubleSolenoid class.
*/
TEST_F(PCMTest, DoubleSolenoid) {
DoubleSolenoid solenoid(TestBench::kSolenoidChannel1, TestBench::kSolenoidChannel2);
solenoid.Set(DoubleSolenoid::kOff);
Wait(kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
solenoid.Set(DoubleSolenoid::kForward);
Wait(kSolenoidDelayTime);
EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
solenoid.Set(DoubleSolenoid::kReverse);
Wait(kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
}