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Move drive integration tests into wpilibj/src/test (#1836)

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Also move drive and controller tests into subfolders.
This commit is contained in:
Tyler Veness
2019-08-20 21:05:38 -07:00
committed by Peter Johnson
parent e716c36b89
commit fa06403000
8 changed files with 173 additions and 190 deletions
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75
wpilibc/src/test/native/cpp/controller/PIDToleranceTest.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2014-2019 FIRST. 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 "frc/controller/PIDController.h"
#include "gtest/gtest.h"
class PIDToleranceTest : public testing::Test {
protected:
static constexpr double kSetpoint = 50.0;
static constexpr double kRange = 200;
static constexpr double kTolerance = 10.0;
frc2::PIDController* pidController;
void SetUp() override {
pidController = new frc2::PIDController(0.5, 0.0, 0.0);
pidController->SetInputRange(-kRange / 2, kRange / 2);
}
void TearDown() override { delete pidController; }
};
TEST_F(PIDToleranceTest, Initial) { EXPECT_TRUE(pidController->AtSetpoint()); }
TEST_F(PIDToleranceTest, Absolute) {
pidController->SetAbsoluteTolerance(kTolerance);
pidController->SetSetpoint(kSetpoint);
pidController->Calculate(0.0);
EXPECT_FALSE(pidController->AtSetpoint())
<< "Error was in tolerance when it should not have been. Error was "
<< pidController->GetPositionError();
pidController->Calculate(kSetpoint + kTolerance / 2);
EXPECT_TRUE(pidController->AtSetpoint())
<< "Error was not in tolerance when it should have been. Error was "
<< pidController->GetPositionError();
pidController->Calculate(kSetpoint + 10 * kTolerance);
EXPECT_FALSE(pidController->AtSetpoint())
<< "Error was in tolerance when it should not have been. Error was "
<< pidController->GetPositionError();
}
TEST_F(PIDToleranceTest, Percent) {
pidController->SetPercentTolerance(kTolerance);
pidController->SetSetpoint(kSetpoint);
pidController->Calculate(0.0);
EXPECT_FALSE(pidController->AtSetpoint())
<< "Error was in tolerance when it should not have been. Error was "
<< pidController->GetPositionError();
// Half of percent tolerance away from setpoint
pidController->Calculate(kSetpoint + (kTolerance / 2) / 100 * kRange);
EXPECT_TRUE(pidController->AtSetpoint())
<< "Error was not in tolerance when it should have been. Error was "
<< pidController->GetPositionError();
// Double percent tolerance away from setpoint
pidController->Calculate(kSetpoint + (kTolerance * 2) / 100 * kRange);
EXPECT_FALSE(pidController->AtSetpoint())
<< "Error was in tolerance when it should not have been. Error was "
<< pidController->GetPositionError();
}