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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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107
wpilibcIntegrationTests/src/FRCUserProgram/cpp/PIDToleranceTest.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 "PIDController.h"
#include "PIDOutput.h"
#include "PIDSource.h"
#include "TestBench.h"
#include "Timer.h"
#include "gtest/gtest.h"
using namespace frc;
class PIDToleranceTest : public testing::Test {
protected:
const double setpoint = 50.0;
const double range = 200;
const double tolerance = 10.0;
class fakeInput : public PIDSource {
public:
double val = 0;
void SetPIDSourceType(PIDSourceType pidSource) {}
PIDSourceType GetPIDSourceType() { return PIDSourceType::kDisplacement; }
double PIDGet() { return val; }
};
class fakeOutput : public PIDOutput {
void PIDWrite(double output) {}
};
fakeInput inp;
fakeOutput out;
PIDController* pid;
void SetUp() override {
pid = new PIDController(0.5, 0.0, 0.0, &inp, &out);
pid->SetInputRange(-range / 2, range / 2);
}
void TearDown() override { delete pid; }
void Reset() { inp.val = 0; }
};
TEST_F(PIDToleranceTest, Absolute) {
Reset();
pid->SetAbsoluteTolerance(tolerance);
pid->SetSetpoint(setpoint);
pid->Enable();
EXPECT_FALSE(pid->OnTarget())
<< "Error was in tolerance when it should not have been. Error was "
<< pid->GetAvgError();
inp.val = setpoint + tolerance / 2;
Wait(1.0);
EXPECT_TRUE(pid->OnTarget())
<< "Error was not in tolerance when it should have been. Error was "
<< pid->GetAvgError();
inp.val = setpoint + 10 * tolerance;
Wait(1.0);
EXPECT_FALSE(pid->OnTarget())
<< "Error was in tolerance when it should not have been. Error was "
<< pid->GetAvgError();
}
TEST_F(PIDToleranceTest, Percent) {
Reset();
pid->SetPercentTolerance(tolerance);
pid->SetSetpoint(setpoint);
pid->Enable();
EXPECT_FALSE(pid->OnTarget())
<< "Error was in tolerance when it should not have been. Error was "
<< pid->GetAvgError();
inp.val = setpoint +
(tolerance) / 200 *
range; // half of percent tolerance away from setpoint
Wait(1.0);
EXPECT_TRUE(pid->OnTarget())
<< "Error was not in tolerance when it should have been. Error was "
<< pid->GetAvgError();
inp.val =
setpoint +
(tolerance) / 50 * range; // double percent tolerance away from setPoint
Wait(1.0);
EXPECT_FALSE(pid->OnTarget())
<< "Error was in tolerance when it should not have been. Error was "
<< pid->GetAvgError();
}