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https://github.com/wpilibsuite/allwpilib
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d6f185d8e5
I started with the output of styleguide#217, then renamed a few classes to fix compilation. ntcore's StorageTest needed some manual renaming since it put the Test word in the middle instead of at the end. One limitation of wpiformat is test cases that were only named "Test" were unmodified, and an error was generated. These test cases were manually given more descriptive names: * TimedRobotTest mode test cases had "Mode" appended to the name. Java tests were renamed to match. * UvAsyncTest and UvAsyncFunctionTest cases were given alternate names
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(Tests, MotorInvertingTest,
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testing::Values(TEST_VICTOR, TEST_JAGUAR, TEST_TALON));
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