mirror of
https://github.com/wpilibsuite/allwpilib
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69422dc063
This makes our APIs more consistent. With optimizations enabled, doubles are just as efficient as floats on ARMv7, so we should take advantage of the extra precision.
127 lines
4.0 KiB
C++
127 lines
4.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014-2016. 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 "TestBench.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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using namespace frc;
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enum MotorInvertingTestType { TEST_VICTOR, TEST_JAGUAR, TEST_TALON };
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static const double motorSpeed = 0.15;
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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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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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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(0.0);
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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_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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