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https://github.com/wpilibsuite/allwpilib
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3cd1253977
Years update, references to WIND_BASE were removed, and WPILib license was moved to the root directory of the project. If there was already a comment block, a year range through 2016 was created using the first year in the comment. If there was no comment block, a block with just the year 2016 was added. Comments were not added to files from external sources (NI, CTRE). Change-Id: Iff4f098ab908b90b8d929902dea903de2f596acc
159 lines
4.5 KiB
C++
159 lines
4.5 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 <AnalogOutput.h>
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#include <AnalogTrigger.h>
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#include <DigitalOutput.h>
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#include <Encoder.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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static const double kDelayTime = 0.001;
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class FakeEncoderTest : public testing::Test {
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protected:
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DigitalOutput *m_outputA;
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DigitalOutput *m_outputB;
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AnalogOutput *m_indexOutput;
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Encoder *m_encoder;
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AnalogTrigger *m_indexAnalogTrigger;
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std::shared_ptr<AnalogTriggerOutput> m_indexAnalogTriggerOutput;
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virtual void SetUp() override {
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m_outputA = new DigitalOutput(TestBench::kLoop2OutputChannel);
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m_outputB = new DigitalOutput(TestBench::kLoop1OutputChannel);
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m_indexOutput = new AnalogOutput(TestBench::kAnalogOutputChannel);
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m_outputA->Set(false);
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m_outputB->Set(false);
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m_encoder = new Encoder(TestBench::kLoop1InputChannel,
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TestBench::kLoop2InputChannel);
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m_indexAnalogTrigger =
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new AnalogTrigger(TestBench::kFakeAnalogOutputChannel);
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m_indexAnalogTrigger->SetLimitsVoltage(2.0, 3.0);
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m_indexAnalogTriggerOutput =
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m_indexAnalogTrigger->CreateOutput(AnalogTriggerType::kState);
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}
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virtual void TearDown() override {
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delete m_outputA;
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delete m_outputB;
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delete m_indexOutput;
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delete m_encoder;
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delete m_indexAnalogTrigger;
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}
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/**
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* Output pulses to the encoder's input channels to simulate a change of 100
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* ticks
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*/
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void Simulate100QuadratureTicks() {
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for (int i = 0; i < 100; i++) {
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m_outputA->Set(true);
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Wait(kDelayTime);
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m_outputB->Set(true);
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Wait(kDelayTime);
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m_outputA->Set(false);
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Wait(kDelayTime);
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m_outputB->Set(false);
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Wait(kDelayTime);
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}
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}
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void SetIndexHigh() {
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m_indexOutput->SetVoltage(5.0);
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Wait(kDelayTime);
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}
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void SetIndexLow() {
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m_indexOutput->SetVoltage(0.0);
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Wait(kDelayTime);
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}
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};
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/**
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* Test the encoder by reseting it to 0 and reading the value.
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*/
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TEST_F(FakeEncoderTest, TestDefaultState) {
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EXPECT_FLOAT_EQ(0.0f, m_encoder->Get()) << "The encoder did not start at 0.";
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}
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/**
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* Test the encoder by setting the digital outputs and reading the value.
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*/
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TEST_F(FakeEncoderTest, TestCountUp) {
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m_encoder->Reset();
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Simulate100QuadratureTicks();
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EXPECT_FLOAT_EQ(100.0f, m_encoder->Get()) << "Encoder did not count to 100.";
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}
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/**
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* Test that the encoder can stay reset while the index source is high
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*/
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TEST_F(FakeEncoderTest, TestResetWhileHigh) {
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m_encoder->SetIndexSource(*m_indexAnalogTriggerOutput,
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Encoder::IndexingType::kResetWhileHigh);
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SetIndexLow();
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Simulate100QuadratureTicks();
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SetIndexHigh();
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EXPECT_EQ(0, m_encoder->Get());
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Simulate100QuadratureTicks();
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EXPECT_EQ(0, m_encoder->Get());
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}
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/**
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* Test that the encoder can reset when the index source goes from low to high
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*/
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TEST_F(FakeEncoderTest, TestResetOnRisingEdge) {
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m_encoder->SetIndexSource(*m_indexAnalogTriggerOutput,
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Encoder::IndexingType::kResetOnRisingEdge);
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SetIndexLow();
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Simulate100QuadratureTicks();
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SetIndexHigh();
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EXPECT_EQ(0, m_encoder->Get());
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Simulate100QuadratureTicks();
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EXPECT_EQ(100, m_encoder->Get());
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}
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/**
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* Test that the encoder can stay reset while the index source is low
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*/
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TEST_F(FakeEncoderTest, TestResetWhileLow) {
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m_encoder->SetIndexSource(*m_indexAnalogTriggerOutput,
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Encoder::IndexingType::kResetWhileLow);
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SetIndexHigh();
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Simulate100QuadratureTicks();
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SetIndexLow();
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EXPECT_EQ(0, m_encoder->Get());
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Simulate100QuadratureTicks();
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EXPECT_EQ(0, m_encoder->Get());
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}
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/**
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* Test that the encoder can reset when the index source goes from high to low
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*/
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TEST_F(FakeEncoderTest, TestResetOnFallingEdge) {
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m_encoder->SetIndexSource(*m_indexAnalogTriggerOutput,
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Encoder::IndexingType::kResetOnFallingEdge);
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SetIndexHigh();
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Simulate100QuadratureTicks();
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SetIndexLow();
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EXPECT_EQ(0, m_encoder->Get());
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Simulate100QuadratureTicks();
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EXPECT_EQ(100, m_encoder->Get());
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}
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