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https://github.com/wpilibsuite/allwpilib
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fdfedd12fc
Add test to verify bindings are correct Change-Id: I766f2d7ff32a1bee2289974e331a4d8d5d563a35
77 lines
2.2 KiB
C++
77 lines
2.2 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 <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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TEST(CANTalonTest, GetFaults) {
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CANTalon talon(deviceId);
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EXPECT_EQ(talon.GetFaults(),0);
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EXPECT_EQ(talon.GetStickyFaults(),0);
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}
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