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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
96 lines
2.8 KiB
C++
96 lines
2.8 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 <Jaguar.h>
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#include <PowerDistributionPanel.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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static const double kMotorTime = 0.25;
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class PowerDistributionPanelTest : public testing::Test {
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protected:
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PowerDistributionPanel *m_pdp;
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Talon *m_talon;
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Victor *m_victor;
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Jaguar *m_jaguar;
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virtual void SetUp() override {
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m_pdp = new PowerDistributionPanel();
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m_talon = new Talon(TestBench::kTalonChannel);
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m_victor = new Victor(TestBench::kVictorChannel);
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m_jaguar = new Jaguar(TestBench::kJaguarChannel);
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}
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virtual void TearDown() override {
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delete m_pdp;
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delete m_talon;
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delete m_victor;
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delete m_jaguar;
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}
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};
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/**
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* Test if the current changes when the motor is driven using a talon
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*/
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TEST_F(PowerDistributionPanelTest, CheckCurrentTalon) {
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Wait(kMotorTime);
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/* The Current should be 0 */
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EXPECT_FLOAT_EQ(0, m_pdp->GetCurrent(TestBench::kTalonPDPChannel))
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<< "The Talon current was non-zero";
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/* Set the motor to full forward */
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m_talon->Set(1.0);
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Wait(kMotorTime);
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/* The current should now be positive */
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ASSERT_GT(m_pdp->GetCurrent(TestBench::kTalonPDPChannel), 0)
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<< "The Talon current was not positive";
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}
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/**
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* Test if the current changes when the motor is driven using a victor
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*/
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TEST_F(PowerDistributionPanelTest, CheckCurrentVictor) {
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Wait(kMotorTime);
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/* The Current should be 0 */
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EXPECT_FLOAT_EQ(0, m_pdp->GetCurrent(TestBench::kVictorPDPChannel))
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<< "The Victor current was non-zero";
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/* Set the motor to full forward */
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m_victor->Set(1.0);
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Wait(kMotorTime);
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/* The current should now be positive */
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ASSERT_GT(m_pdp->GetCurrent(TestBench::kVictorPDPChannel), 0)
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<< "The Victor current was not positive";
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}
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/**
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* Test if the current changes when the motor is driven using a jaguar
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*/
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TEST_F(PowerDistributionPanelTest, CheckCurrentJaguar) {
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Wait(kMotorTime);
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/* The Current should be 0 */
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EXPECT_FLOAT_EQ(0, m_pdp->GetCurrent(TestBench::kJaguarPDPChannel))
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<< "The Jaguar current was non-zero";
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/* Set the motor to full forward */
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m_jaguar->Set(1.0);
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Wait(kMotorTime);
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/* The current should now be positive */
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ASSERT_GT(m_pdp->GetCurrent(TestBench::kJaguarPDPChannel), 0)
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<< "The Jaguar current was not positive";
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}
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