mirror of
https://github.com/wpilibsuite/allwpilib
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Move drive integration tests into wpilibj/src/test (#1836)
Also move drive and controller tests into subfolders.
This commit is contained in:
Tyler Veness
committed by
Peter Johnson
Peter Johnson
parent
e716c36b89
commit
fa06403000
@@ -1,183 +0,0 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj;
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import java.util.logging.Logger;
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import org.junit.BeforeClass;
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import org.junit.Test;
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import edu.wpi.first.wpilibj.drive.DifferentialDrive;
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import edu.wpi.first.wpilibj.drive.MecanumDrive;
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import edu.wpi.first.wpilibj.test.AbstractComsSetup;
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import static org.junit.Assert.assertEquals;
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/**
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* Tests DifferentialDrive and MecanumDrive.
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*/
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public class DriveTest extends AbstractComsSetup {
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private static final Logger logger = Logger.getLogger(DriveTest.class.getName());
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private static MockSpeedController m_rdFrontLeft = new MockSpeedController();
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private static MockSpeedController m_rdRearLeft = new MockSpeedController();
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private static MockSpeedController m_rdFrontRight = new MockSpeedController();
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private static MockSpeedController m_rdRearRight = new MockSpeedController();
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private static MockSpeedController m_frontLeft = new MockSpeedController();
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private static MockSpeedController m_rearLeft = new MockSpeedController();
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private static MockSpeedController m_frontRight = new MockSpeedController();
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private static MockSpeedController m_rearRight = new MockSpeedController();
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private static RobotDrive m_robotDrive =
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new RobotDrive(m_rdFrontLeft, m_rdRearLeft, m_rdFrontRight, m_rdRearRight);
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private static DifferentialDrive m_differentialDrive =
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new DifferentialDrive(m_frontLeft, m_frontRight);
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private static MecanumDrive m_mecanumDrive =
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new MecanumDrive(m_frontLeft, m_rearLeft, m_frontRight, m_rearRight);
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private final double[] m_testJoystickValues = {1.0, 0.9, 0.5, 0.01, 0.0, -0.01, -0.5, -0.9,
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-1.0};
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private final double[] m_testGyroValues = {0, 30, 45, 90, 135, 180, 225, 270, 305, 360, 540,
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-45, -90, -135, -180, -225, -270, -305, -360, -540};
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@BeforeClass
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public static void before() {
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m_differentialDrive.setDeadband(0.0);
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m_differentialDrive.setSafetyEnabled(false);
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m_mecanumDrive.setDeadband(0.0);
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m_mecanumDrive.setSafetyEnabled(false);
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m_robotDrive.setSafetyEnabled(false);
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}
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@Test
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public void testTankDriveSquared() {
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for (double leftJoystick : m_testJoystickValues) {
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for (double rightJoystick : m_testJoystickValues) {
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m_robotDrive.tankDrive(leftJoystick, rightJoystick);
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m_differentialDrive.tankDrive(leftJoystick, rightJoystick);
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assertEquals("Left Motor squared didn't match. Left Joystick: " + leftJoystick
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+ " Right Joystick: " + rightJoystick + " ", m_rdFrontLeft.get(), m_frontLeft.get(),
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0.01);
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assertEquals("Right Motor squared didn't match. Left Joystick: " + leftJoystick
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+ " Right Joystick: " + rightJoystick + " ", m_rdFrontRight.get(), m_frontRight.get(),
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0.01);
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}
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}
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}
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@Test
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public void testTankDrive() {
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for (double leftJoystick : m_testJoystickValues) {
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for (double rightJoystick : m_testJoystickValues) {
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m_robotDrive.tankDrive(leftJoystick, rightJoystick, false);
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m_differentialDrive.tankDrive(leftJoystick, rightJoystick, false);
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assertEquals("Left Motor didn't match. Left Joystick: " + leftJoystick
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+ " Right Joystick: " + rightJoystick + " ", m_rdFrontLeft.get(), m_frontLeft.get(),
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0.01);
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assertEquals("Right Motor didn't match. Left Joystick: " + leftJoystick
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+ " Right Joystick: " + rightJoystick + " ", m_rdFrontRight.get(), m_frontRight.get(),
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0.01);
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}
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}
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}
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@Test
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public void testArcadeDriveSquared() {
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for (double moveJoystick : m_testJoystickValues) {
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for (double rotateJoystick : m_testJoystickValues) {
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m_robotDrive.arcadeDrive(moveJoystick, rotateJoystick);
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m_differentialDrive.arcadeDrive(moveJoystick, -rotateJoystick);
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assertEquals("Left Motor squared didn't match. Move Joystick: " + moveJoystick
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+ " Rotate Joystick: " + rotateJoystick + " ", m_rdFrontLeft.get(), m_frontLeft.get(),
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0.01);
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assertEquals("Right Motor squared didn't match. Move Joystick: " + moveJoystick
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+ " Rotate Joystick: " + rotateJoystick + " ", m_rdFrontRight.get(),
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m_frontRight.get(), 0.01);
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}
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}
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}
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@Test
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public void testArcadeDrive() {
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for (double moveJoystick : m_testJoystickValues) {
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for (double rotateJoystick : m_testJoystickValues) {
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m_robotDrive.arcadeDrive(moveJoystick, rotateJoystick, false);
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m_differentialDrive.arcadeDrive(moveJoystick, -rotateJoystick, false);
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assertEquals("Left Motor didn't match. Move Joystick: " + moveJoystick
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+ " Rotate Joystick: " + rotateJoystick + " ", m_rdFrontLeft.get(), m_frontLeft.get(),
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0.01);
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assertEquals("Right Motor didn't match. Move Joystick: " + moveJoystick
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+ " Rotate Joystick: " + rotateJoystick + " ", m_rdFrontRight.get(),
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m_frontRight.get(), 0.01);
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}
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}
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}
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@Test
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public void testMecanumPolar() {
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System.out.println("magnitudeJoystick, directionJoystick , rotationJoystick, "
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+ "m_rdFrontLeft, m_frontLeft, m_rdFrontRight, m_frontRight, m_rdRearLeft, "
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+ "m_rearLeft, m_rdRearRight, m_rearRight");
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for (double magnitudeJoystick : m_testJoystickValues) {
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for (double directionJoystick : m_testGyroValues) {
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for (double rotationJoystick : m_testJoystickValues) {
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m_robotDrive.mecanumDrive_Polar(magnitudeJoystick, directionJoystick, rotationJoystick);
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m_mecanumDrive.drivePolar(magnitudeJoystick, directionJoystick, rotationJoystick);
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assertEquals("Left Front Motor didn't match. Magnitude Joystick: " + magnitudeJoystick
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+ " Direction Joystick: " + directionJoystick + " RotationJoystick: "
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+ rotationJoystick, m_rdFrontLeft.get(), m_frontLeft.get(), 0.01);
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assertEquals("Right Front Motor didn't match. Magnitude Joystick: " + magnitudeJoystick
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+ " Direction Joystick: " + directionJoystick + " RotationJoystick: "
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+ rotationJoystick, m_rdFrontRight.get(), -m_frontRight.get(), 0.01);
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assertEquals("Left Rear Motor didn't match. Magnitude Joystick: " + magnitudeJoystick
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+ " Direction Joystick: " + directionJoystick + " RotationJoystick: "
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+ rotationJoystick, m_rdRearLeft.get(), m_rearLeft.get(), 0.01);
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assertEquals("Right Rear Motor didn't match. Magnitude Joystick: " + magnitudeJoystick
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+ " Direction Joystick: " + directionJoystick + " RotationJoystick: "
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+ rotationJoystick, m_rdRearRight.get(), -m_rearRight.get(), 0.01);
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}
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}
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}
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}
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@Test
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@SuppressWarnings("checkstyle:LocalVariableName")
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public void testMecanumCartesian() {
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for (double x_Joystick : m_testJoystickValues) {
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for (double y_Joystick : m_testJoystickValues) {
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for (double rotationJoystick : m_testJoystickValues) {
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for (double gyroValue : m_testGyroValues) {
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m_robotDrive.mecanumDrive_Cartesian(x_Joystick, y_Joystick, rotationJoystick,
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gyroValue);
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m_mecanumDrive.driveCartesian(x_Joystick, -y_Joystick, rotationJoystick, -gyroValue);
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assertEquals("Left Front Motor didn't match. X Joystick: " + x_Joystick
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+ " Y Joystick: " + y_Joystick + " RotationJoystick: "
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+ rotationJoystick + " Gyro: " + gyroValue, m_rdFrontLeft.get(),
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m_frontLeft.get(), 0.01);
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assertEquals("Right Front Motor didn't match. X Joystick: " + x_Joystick
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+ " Y Joystick: " + y_Joystick + " RotationJoystick: "
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+ rotationJoystick + " Gyro: " + gyroValue, m_rdFrontRight.get(),
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-m_frontRight.get(), 0.01);
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assertEquals("Left Rear Motor didn't match. X Joystick: " + x_Joystick
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+ " Y Joystick: " + y_Joystick + " RotationJoystick: "
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+ rotationJoystick + " Gyro: " + gyroValue, m_rdRearLeft.get(),
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m_rearLeft.get(), 0.01);
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assertEquals("Right Rear Motor didn't match. X Joystick: " + x_Joystick
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+ " Y Joystick: " + y_Joystick + " RotationJoystick: "
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+ rotationJoystick + " Gyro: " + gyroValue, m_rdRearRight.get(),
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-m_rearRight.get(), 0.01);
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}
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}
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}
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}
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}
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@Override
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protected Logger getClassLogger() {
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return logger;
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}
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}
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@@ -20,7 +20,7 @@ import edu.wpi.first.wpilibj.test.AbstractTestSuite;
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@RunWith(Suite.class)
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@SuiteClasses({AnalogCrossConnectTest.class, AnalogPotentiometerTest.class,
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BuiltInAccelerometerTest.class, ConstantsPortsTest.class, CounterTest.class,
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DigitalGlitchFilterTest.class, DIOCrossConnectTest.class, DriveTest.class,
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DigitalGlitchFilterTest.class, DIOCrossConnectTest.class,
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DriverStationTest.class, EncoderTest.class, GyroTest.class, MotorEncoderTest.class,
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MotorInvertingTest.class, PCMTest.class, PDPTest.class, PIDTest.class,
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RelayCrossConnectTest.class, SampleTest.class, TimerTest.class})
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