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Adds/Extends several integration tests. Modifies Java Servo with correct values according to the datasheet assoiciated with the Hitec HS-322HD

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Changes the format of the MotorEncoderFixture usage. Also adds a motor type to easily determine what speed controller is being used

Adds a TiltPanCameraTest to test the Gyroscope as well as the servo classes

Updates the TestBench and the TestSuite to reflect the new tests and the changes to these Tests

Begins integrating a test to check to see if counters and encoders are working correctly

Modifies the ServoClass to have the correct data for PWM generation.
Also  modifies the PWM class to make the setBounds method to be protected

Modifies the TiltPanTest to rotate slower and reduces the acceptable deviation

Reduces the runtime of the MotorEncoderTest by lowering the runtime value

Updates the TestBench to load the Gyroscope before allocating the servos in order to allow for setup time
Also adds Documentation

Reorders the Tests to run the TiltPanTest first

Adds/Updates the copywright header to several files that were previously modified in this commit

Change-Id: I093f998d9687c6b6c6b8d4f6949fbe56ba236212
This commit is contained in:
Jonathan Leitschuh
2014-05-28 13:21:35 -04:00
parent 9b831ed34c
commit efeec5d986
17 changed files with 715 additions and 129 deletions
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4
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/PWM.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2012. All Rights Reserved. */
/* Copyright (c) FIRST 2008-2014. 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. */
@@ -201,7 +201,7 @@ public class PWM extends SensorBase implements LiveWindowSendable {
* @param deadbandMin The low end of the deadband pulse width in ms
* @param min The minimum pulse width in ms
*/
void setBounds(double max, double deadbandMax, double center, double deadbandMin, double min) {
protected void setBounds(double max, double deadbandMax, double center, double deadbandMin, double min) {
double loopTime = m_module.getLoopTiming()/(kSystemClockTicksPerMicrosecond*1e3);
m_maxPwm = (int)((max-kDefaultPwmCenter)/loopTime+kDefaultPwmStepsDown-1);

23
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Servo.java
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2012. All Rights Reserved. */
/* Copyright (c) FIRST 2008-2014. 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. */
@@ -22,17 +22,21 @@ import edu.wpi.first.wpilibj.tables.ITableListener;
*/
public class Servo extends PWM implements IDevice {
private static final double kMaxServoAngle = 170.0;
private static final double kMaxServoAngle = 180.0;
private static final double kMinServoAngle = 0.0;
private static final double kDefaultMaxServoPWM = 2.4;
private static final double kDefaultMinServoPWM = .6;
/**
* Common initialization code called by all constructors.
*
* InitServo() assigns defaults for the period multiplier for the servo PWM control signal, as
* well as the minimum and maximum PWM values supported by the servo.
*
*/
private void initServo() {
setBounds(2.27, 0, 0, 0, .743);
setBounds(kDefaultMaxServoPWM, 0, 0, 0, kDefaultMinServoPWM);
setPeriodMultiplier(PeriodMultiplier.k4X);
LiveWindow.addActuator("Servo", getModuleNumber(), getChannel(), this);
@@ -40,7 +44,10 @@ public class Servo extends PWM implements IDevice {
}
/**
* Constructor that assumes the default digital module.
* Constructor that assumes the default digital module.<br>
*
* By default {@value #kDefaultMaxServoPWM} ms is used as the maxPWM value<br>
* By default {@value #kDefaultMinServoPWM} ms is used as the minPWM value<br>
*
* @param channel The PWM channel on the digital module to which the servo is attached.
*/
@@ -50,8 +57,11 @@ public class Servo extends PWM implements IDevice {
}
/**
* Constructor that specifies the digital module.
* Constructor that specifies the digital module.<br>
*
* By default {@value #kDefaultMaxServoPWM} ms is used as the maxPWM value<br>
* By default {@value #kDefaultMinServoPWM} ms is used as the minPWM value<br>
*
* @param slot The slot in the chassis that the digital module is plugged into.
* @param channel The PWM channel on the digital module to which the servo is attached.
*/
@@ -59,8 +69,9 @@ public class Servo extends PWM implements IDevice {
super(slot, channel);
initServo();
}
/**
/**
* Set the servo position.
*
* Servo values range from 0.0 to 1.0 corresponding to the range of full left to full right.