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93523d572e
The command and shuffleboard integration tests were removed because their unit tests counterparts already provide adequate coverage. Java already removed these.
156 lines
4.0 KiB
C++
156 lines
4.0 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <units/time.h>
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#include "TestBench.h"
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#include "frc/Encoder.h"
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#include "frc/Timer.h"
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#include "frc/motorcontrol/Jaguar.h"
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#include "frc/motorcontrol/Talon.h"
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#include "frc/motorcontrol/Victor.h"
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#include "gtest/gtest.h"
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enum MotorInvertingTestType { TEST_VICTOR, TEST_JAGUAR, TEST_TALON };
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static constexpr double kMotorSpeed = 0.15;
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static constexpr auto kDelayTime = 0.5_s;
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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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frc::MotorController* m_motorController;
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frc::Encoder* m_encoder;
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MotorInvertingTest() {
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switch (GetParam()) {
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case TEST_VICTOR:
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m_motorController = new frc::Victor(TestBench::kVictorChannel);
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m_encoder = new frc::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_motorController = new frc::Jaguar(TestBench::kJaguarChannel);
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m_encoder = new frc::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_motorController = new frc::Talon(TestBench::kTalonChannel);
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m_encoder = new frc::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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~MotorInvertingTest() {
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delete m_encoder;
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delete m_motorController;
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}
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void Reset() {
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m_motorController->SetInverted(false);
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m_motorController->Set(0.0);
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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_motorController->Set(kMotorSpeed);
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frc::Wait(kDelayTime);
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bool initDirection = m_encoder->GetDirection();
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m_motorController->SetInverted(true);
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m_motorController->Set(kMotorSpeed);
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frc::Wait(kDelayTime);
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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_motorController->SetInverted(false);
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m_motorController->Set(-kMotorSpeed);
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frc::Wait(kDelayTime);
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bool initDirection = m_encoder->GetDirection();
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m_motorController->SetInverted(true);
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m_motorController->Set(-kMotorSpeed);
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frc::Wait(kDelayTime);
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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_motorController->SetInverted(false);
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m_motorController->Set(kMotorSpeed);
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frc::Wait(kDelayTime);
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bool initDirection = m_encoder->GetDirection();
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m_motorController->SetInverted(true);
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m_motorController->Set(-kMotorSpeed);
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frc::Wait(kDelayTime);
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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_motorController->SetInverted(false);
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m_motorController->Set(-kMotorSpeed);
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frc::Wait(kDelayTime);
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bool initDirection = m_encoder->GetDirection();
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m_motorController->SetInverted(true);
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m_motorController->Set(kMotorSpeed);
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frc::Wait(kDelayTime);
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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_SUITE_P(Test, MotorInvertingTest,
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testing::Values(TEST_VICTOR, TEST_JAGUAR, TEST_TALON));
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