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Update to 2018_v4 image and new build system. (#598)

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* Revert "Force OpenCV to 3.1.0 (#602)"

This reverts commit 50ed55e8e2.

* Removes Simulation

* Removes old build system

* Removes old gtest

* Adds new gmock and gtest

* Updates to new ni-libraries

* removes MyRobot (to be replaced)

* moves files to new location

* Adds new sim backend and new test executables

* updates .styleguide and .gitignore

* Changes cpp WPILibVersion to a function

MSVC throws an AV with the old version.

* Disables USBCamera on all systems except for linux

* 2018 NI Libraries

* New build system
This commit is contained in:
Thad House
2017-08-18 21:35:53 -07:00
committed by Peter Johnson
parent 50ed55e8e2
commit e1195e8b9d
1024 changed files with 64481 additions and 61340 deletions
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156
wpilibcIntegrationTests/src/FRCUserProgram/cpp/MotorInvertingTest.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2014-2017. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "Encoder.h"
#include "Jaguar.h"
#include "Talon.h"
#include "TestBench.h"
#include "Timer.h"
#include "Victor.h"
#include "gtest/gtest.h"
using namespace frc;
enum MotorInvertingTestType { TEST_VICTOR, TEST_JAGUAR, TEST_TALON };
static const double motorSpeed = 0.15;
static const double delayTime = 0.5;
std::ostream& operator<<(std::ostream& os, MotorInvertingTestType const& type) {
switch (type) {
case TEST_VICTOR:
os << "Victor";
break;
case TEST_JAGUAR:
os << "Jaguar";
break;
case TEST_TALON:
os << "Talon";
break;
}
return os;
}
class MotorInvertingTest
: public testing::TestWithParam<MotorInvertingTestType> {
protected:
SpeedController* m_speedController;
Encoder* m_encoder;
void SetUp() override {
switch (GetParam()) {
case TEST_VICTOR:
m_speedController = new Victor(TestBench::kVictorChannel);
m_encoder = new Encoder(TestBench::kVictorEncoderChannelA,
TestBench::kVictorEncoderChannelB);
break;
case TEST_JAGUAR:
m_speedController = new Jaguar(TestBench::kJaguarChannel);
m_encoder = new Encoder(TestBench::kJaguarEncoderChannelA,
TestBench::kJaguarEncoderChannelB);
break;
case TEST_TALON:
m_speedController = new Talon(TestBench::kTalonChannel);
m_encoder = new Encoder(TestBench::kTalonEncoderChannelA,
TestBench::kTalonEncoderChannelB);
break;
}
}
void TearDown() override {
delete m_speedController;
delete m_encoder;
}
void Reset() {
m_speedController->SetInverted(false);
m_speedController->Set(0.0);
m_encoder->Reset();
}
};
TEST_P(MotorInvertingTest, InvertingPositive) {
Reset();
m_speedController->Set(motorSpeed);
Wait(delayTime);
bool initDirection = m_encoder->GetDirection();
m_speedController->SetInverted(true);
m_speedController->Set(motorSpeed);
Wait(delayTime);
EXPECT_TRUE(m_encoder->GetDirection() != initDirection)
<< "Inverting with Positive value does not change direction";
Reset();
}
TEST_P(MotorInvertingTest, InvertingNegative) {
Reset();
m_speedController->SetInverted(false);
m_speedController->Set(-motorSpeed);
Wait(delayTime);
bool initDirection = m_encoder->GetDirection();
m_speedController->SetInverted(true);
m_speedController->Set(-motorSpeed);
Wait(delayTime);
EXPECT_TRUE(m_encoder->GetDirection() != initDirection)
<< "Inverting with Negative value does not change direction";
Reset();
}
TEST_P(MotorInvertingTest, InvertingSwitchingPosToNeg) {
Reset();
m_speedController->SetInverted(false);
m_speedController->Set(motorSpeed);
Wait(delayTime);
bool initDirection = m_encoder->GetDirection();
m_speedController->SetInverted(true);
m_speedController->Set(-motorSpeed);
Wait(delayTime);
EXPECT_TRUE(m_encoder->GetDirection() == initDirection)
<< "Inverting with Switching value does change direction";
Reset();
}
TEST_P(MotorInvertingTest, InvertingSwitchingNegToPos) {
Reset();
m_speedController->SetInverted(false);
m_speedController->Set(-motorSpeed);
Wait(delayTime);
bool initDirection = m_encoder->GetDirection();
m_speedController->SetInverted(true);
m_speedController->Set(motorSpeed);
Wait(delayTime);
EXPECT_TRUE(m_encoder->GetDirection() == initDirection)
<< "Inverting with Switching value does change direction";
Reset();
}
INSTANTIATE_TEST_CASE_P(Test, MotorInvertingTest,
testing::Values(TEST_VICTOR, TEST_JAGUAR, TEST_TALON));