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https://github.com/wpilibsuite/allwpilib
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2bf3b6bed4
I ran the benchmark in a tmpfs with an Intel Core i5-2430M. I ran it three times for each combination of build invokation and source tree. First, I tested "make". For master (eb7d55f), I measured an average of 42.751s with a standard deviation of 0.372s. For this commit, I measured an average of 33.394s with a standard deviation of 0.140s. There was a 9.356s, or 22%, improvement with a total error of 1.3%. Second, I tested "make -j4". For master (eb7d55f), I measured an average of 21.723s with a standard deviation of 0.158s. For this commit, I measured an average of 16.823s with a standard deviation of 0.340s. There was a 4.900s, or 23%, improvement with a total error of 2.7%. Change-Id: Idb3adce62ed8ef449360c6583896b6da3565cf58
70 lines
2.0 KiB
C++
70 lines
2.0 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#include <CANTalon.h>
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#include <Timer.h>
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#include "gtest/gtest.h"
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#include "TestBench.h"
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const int deviceId = 0;
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TEST(CANTalonTest, QuickTest) {
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double throttle = 0.1;
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CANTalon talon(deviceId);
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talon.SetControlMode(CANSpeedController::kPercentVbus);
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talon.EnableControl();
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talon.Set(throttle);
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Wait(0.25);
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EXPECT_NEAR(talon.Get(), throttle, 5e-3);
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talon.Set(-throttle);
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Wait(0.25);
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EXPECT_NEAR(talon.Get(), -throttle, 5e-3);
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talon.Disable();
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Wait(0.1);
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EXPECT_FLOAT_EQ(talon.Get(), 0.0);
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}
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TEST(CANTalonTest, SetGetPID) {
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// Tests that we can actually set and get PID values as intended.
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CANTalon talon(deviceId);
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double p = 0.05, i = 0.098, d = 1.23;
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talon.SetPID(p, i, d);
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// Wait(0.03);
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EXPECT_NEAR(p, talon.GetP(), 1e-5);
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EXPECT_NEAR(i, talon.GetI(), 1e-5);
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EXPECT_NEAR(d, talon.GetD(), 1e-5);
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// Test with new values in case the talon was already set to the previous
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// ones.
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p = 0.15;
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i = 0.198;
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d = 1.03;
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talon.SetPID(p, i, d);
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// Wait(0.03);
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EXPECT_NEAR(p, talon.GetP(), 1e-5);
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EXPECT_NEAR(i, talon.GetI(), 1e-5);
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EXPECT_NEAR(d, talon.GetD(), 1e-5);
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}
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TEST(CANTalonTest, DISABLED_PositionModeWorks) {
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CANTalon talon(deviceId);
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talon.SetFeedbackDevice(CANTalon::AnalogPot);
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talon.SetControlMode(CANSpeedController::kPosition);
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Wait(0.1);
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double p = 2;
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double i = 0.00;
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double d = 0.00;
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Wait(0.2);
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talon.SetControlMode(CANSpeedController::kPosition);
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talon.SetFeedbackDevice(CANTalon::AnalogPot);
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talon.SetPID(p, i, d);
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Wait(0.2);
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talon.Set(100);
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Wait(100);
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talon.Disable();
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EXPECT_NEAR(talon.Get(), 500, 1000);
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}
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