mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
6d854afb0e
This is a major restructuring of the WPILib repository to simply build procedures and remove the remnants of Maven from everything except the eclipse plugins. Gradle files have been largely simplified or rewritten, taking advantage of splitting up parts of the build into separate build files for ease of reading. The eclipse plugins are now in a separate project, as is ntcore. All dependencies are resolved via Maven dependencies, with the Jenkins-maintained WPILib repo. Project structures have also been simplified: we no longer have separate subprojects inside wpilibc and wpilibj. Where possible, these changes hav been done with git renames, to make sure we still have full history for all repositories. Other unrelated subprojects have also been broken out: OutlineViewer is now a separate project. Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
125 lines
4.0 KiB
C++
125 lines
4.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014. 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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#include <Encoder.h>
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#include <Jaguar.h>
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#include <Talon.h>
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#include <Timer.h>
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#include <Victor.h>
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#include "gtest/gtest.h"
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#include "TestBench.h"
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enum MotorInvertingTestType { TEST_VICTOR, TEST_JAGUAR, TEST_TALON };
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static const double motorSpeed = 0.25;
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static const double delayTime = 0.5;
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std::ostream &operator<<(std::ostream &os, MotorInvertingTestType const &type) {
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switch (type) {
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case TEST_VICTOR:
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os << "Victor";
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break;
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case TEST_JAGUAR:
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os << "Jaguar";
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break;
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case TEST_TALON:
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os << "Talon";
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break;
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}
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return os;
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}
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class MotorInvertingTest
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: public testing::TestWithParam<MotorInvertingTestType> {
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protected:
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SpeedController *m_speedController;
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Encoder *m_encoder;
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virtual void SetUp() override {
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switch (GetParam()) {
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case TEST_VICTOR:
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m_speedController = new Victor(TestBench::kVictorChannel);
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m_encoder = new Encoder(TestBench::kVictorEncoderChannelA,
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TestBench::kVictorEncoderChannelB);
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break;
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case TEST_JAGUAR:
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m_speedController = new Jaguar(TestBench::kJaguarChannel);
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m_encoder = new Encoder(TestBench::kJaguarEncoderChannelA,
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TestBench::kJaguarEncoderChannelB);
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break;
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case TEST_TALON:
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m_speedController = new Talon(TestBench::kTalonChannel);
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m_encoder = new Encoder(TestBench::kTalonEncoderChannelA,
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TestBench::kTalonEncoderChannelB);
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break;
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}
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}
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virtual void TearDown() override {
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delete m_speedController;
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delete m_encoder;
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}
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void Reset() {
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m_speedController->SetInverted(false);
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m_speedController->Set(0.0f);
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m_encoder->Reset();
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}
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};
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TEST_P(MotorInvertingTest, InvertingPositive) {
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Reset();
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m_speedController->Set(motorSpeed);
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Wait(delayTime);
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bool initDirection = m_encoder->GetDirection();
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m_speedController->SetInverted(true);
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m_speedController->Set(motorSpeed);
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Wait(delayTime);
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EXPECT_TRUE(m_encoder->GetDirection() != initDirection)
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<< "Inverting with Positive value does not change direction";
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Reset();
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}
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TEST_P(MotorInvertingTest, InvertingNegative) {
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Reset();
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m_speedController->SetInverted(false);
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m_speedController->Set(-motorSpeed);
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Wait(delayTime);
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bool initDirection = m_encoder->GetDirection();
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m_speedController->SetInverted(true);
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m_speedController->Set(-motorSpeed);
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Wait(delayTime);
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EXPECT_TRUE(m_encoder->GetDirection() != initDirection)
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<< "Inverting with Negative value does not change direction";
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Reset();
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}
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TEST_P(MotorInvertingTest, InvertingSwitchingPosToNeg) {
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Reset();
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m_speedController->SetInverted(false);
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m_speedController->Set(motorSpeed);
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Wait(delayTime);
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bool initDirection = m_encoder->GetDirection();
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m_speedController->SetInverted(true);
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m_speedController->Set(-motorSpeed);
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Wait(delayTime);
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EXPECT_TRUE(m_encoder->GetDirection() == initDirection)
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<< "Inverting with Switching value does change direction";
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Reset();
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}
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TEST_P(MotorInvertingTest, InvertingSwitchingNegToPos) {
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Reset();
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m_speedController->SetInverted(false);
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m_speedController->Set(-motorSpeed);
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Wait(delayTime);
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bool initDirection = m_encoder->GetDirection();
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m_speedController->SetInverted(true);
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m_speedController->Set(motorSpeed);
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Wait(delayTime);
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EXPECT_TRUE(m_encoder->GetDirection() == initDirection)
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<< "Inverting with Switching value does change direction";
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Reset();
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}
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INSTANTIATE_TEST_CASE_P(Test, MotorInvertingTest,
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testing::Values(TEST_VICTOR, TEST_JAGUAR, TEST_TALON));
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