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allwpilib/wpilibc/src/test/native/cpp/drive/MecanumDriveTest.cpp
Tyler Veness 046c2c8972 [wpilibc] Rename SpeedControllerGroupTest.cpp (#4258) 
Also move motor controller test files into motorcontrol folder to match
Java.
2022-05-21 16:20:26 -07:00

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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc/drive/MecanumDrive.h"
#include "gtest/gtest.h"
#include "motorcontrol/MockMotorController.h"
TEST(MecanumDriveTest, CartesianIK) {
// Forward
auto speeds = frc::MecanumDrive::DriveCartesianIK(1.0, 0.0, 0.0);
EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
// Left
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, -1.0, 0.0);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearRight);
// Right
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 1.0, 0.0);
EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
// Rotate CCW
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 0.0, -1.0);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
// Rotate CW
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 0.0, 1.0);
EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearRight);
}
TEST(MecanumDriveTest, CartesianIKGyro90CW) {
// Forward in global frame; left in robot frame
auto speeds = frc::MecanumDrive::DriveCartesianIK(1.0, 0.0, 0.0, 90.0);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearRight);
// Left in global frame; backward in robot frame
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, -1.0, 0.0, 90.0);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearRight);
// Right in global frame; forward in robot frame
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 1.0, 0.0, 90.0);
EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
// Rotate CCW
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 0.0, -1.0, 90.0);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
// Rotate CW
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 0.0, 1.0, 90.0);
EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearRight);
}
TEST(MecanumDriveTest, Cartesian) {
frc::MockMotorController fl;
frc::MockMotorController rl;
frc::MockMotorController fr;
frc::MockMotorController rr;
frc::MecanumDrive drive{fl, rl, fr, rr};
drive.SetDeadband(0.0);
// Forward
drive.DriveCartesian(1.0, 0.0, 0.0);
EXPECT_DOUBLE_EQ(1.0, fl.Get());
EXPECT_DOUBLE_EQ(1.0, fr.Get());
EXPECT_DOUBLE_EQ(1.0, rl.Get());
EXPECT_DOUBLE_EQ(1.0, rr.Get());
// Left
drive.DriveCartesian(0.0, -1.0, 0.0);
EXPECT_DOUBLE_EQ(-1.0, fl.Get());
EXPECT_DOUBLE_EQ(1.0, fr.Get());
EXPECT_DOUBLE_EQ(1.0, rl.Get());
EXPECT_DOUBLE_EQ(-1.0, rr.Get());
// Right
drive.DriveCartesian(0.0, 1.0, 0.0);
EXPECT_DOUBLE_EQ(1.0, fl.Get());
EXPECT_DOUBLE_EQ(-1.0, fr.Get());
EXPECT_DOUBLE_EQ(-1.0, rl.Get());
EXPECT_DOUBLE_EQ(1.0, rr.Get());
// Rotate CCW
drive.DriveCartesian(0.0, 0.0, -1.0);
EXPECT_DOUBLE_EQ(-1.0, fl.Get());
EXPECT_DOUBLE_EQ(1.0, fr.Get());
EXPECT_DOUBLE_EQ(-1.0, rl.Get());
EXPECT_DOUBLE_EQ(1.0, rr.Get());
// Rotate CW
drive.DriveCartesian(0.0, 0.0, 1.0);
EXPECT_DOUBLE_EQ(1.0, fl.Get());
EXPECT_DOUBLE_EQ(-1.0, fr.Get());
EXPECT_DOUBLE_EQ(1.0, rl.Get());
EXPECT_DOUBLE_EQ(-1.0, rr.Get());
}
TEST(MecanumDriveTest, CartesianGyro90CW) {
frc::MockMotorController fl;
frc::MockMotorController fr;
frc::MockMotorController rl;
frc::MockMotorController rr;
frc::MecanumDrive drive{fl, rl, fr, rr};
drive.SetDeadband(0.0);
// Forward in global frame; left in robot frame
drive.DriveCartesian(1.0, 0.0, 0.0, 90.0);
EXPECT_DOUBLE_EQ(-1.0, fl.Get());
EXPECT_DOUBLE_EQ(1.0, fr.Get());
EXPECT_DOUBLE_EQ(1.0, rl.Get());
EXPECT_DOUBLE_EQ(-1.0, rr.Get());
// Left in global frame; backward in robot frame
drive.DriveCartesian(0.0, -1.0, 0.0, 90.0);
EXPECT_DOUBLE_EQ(-1.0, fl.Get());
EXPECT_DOUBLE_EQ(-1.0, fr.Get());
EXPECT_DOUBLE_EQ(-1.0, rl.Get());
EXPECT_DOUBLE_EQ(-1.0, rr.Get());
// Right in global frame; forward in robot frame
drive.DriveCartesian(0.0, 1.0, 0.0, 90.0);
EXPECT_DOUBLE_EQ(1.0, fl.Get());
EXPECT_DOUBLE_EQ(1.0, fr.Get());
EXPECT_DOUBLE_EQ(1.0, rl.Get());
EXPECT_DOUBLE_EQ(1.0, rr.Get());
// Rotate CCW
drive.DriveCartesian(0.0, 0.0, -1.0, 90.0);
EXPECT_DOUBLE_EQ(-1.0, fl.Get());
EXPECT_DOUBLE_EQ(1.0, fr.Get());
EXPECT_DOUBLE_EQ(-1.0, rl.Get());
EXPECT_DOUBLE_EQ(1.0, rr.Get());
// Rotate CW
drive.DriveCartesian(0.0, 0.0, 1.0, 90.0);
EXPECT_DOUBLE_EQ(1.0, fl.Get());
EXPECT_DOUBLE_EQ(-1.0, fr.Get());
EXPECT_DOUBLE_EQ(1.0, rl.Get());
EXPECT_DOUBLE_EQ(-1.0, rr.Get());
}
TEST(MecanumDriveTest, Polar) {
frc::MockMotorController fl;
frc::MockMotorController fr;
frc::MockMotorController rl;
frc::MockMotorController rr;
frc::MecanumDrive drive{fl, rl, fr, rr};
drive.SetDeadband(0.0);
// Forward
drive.DrivePolar(1.0, 0.0, 0.0);
EXPECT_DOUBLE_EQ(1.0, fl.Get());
EXPECT_DOUBLE_EQ(1.0, fr.Get());
EXPECT_DOUBLE_EQ(1.0, rl.Get());
EXPECT_DOUBLE_EQ(1.0, rr.Get());
// Left
drive.DrivePolar(1.0, -90.0, 0.0);
EXPECT_DOUBLE_EQ(-1.0, fl.Get());
EXPECT_DOUBLE_EQ(1.0, fr.Get());
EXPECT_DOUBLE_EQ(1.0, rl.Get());
EXPECT_DOUBLE_EQ(-1.0, rr.Get());
// Right
drive.DrivePolar(1.0, 90.0, 0.0);
EXPECT_DOUBLE_EQ(1.0, fl.Get());
EXPECT_DOUBLE_EQ(-1.0, fr.Get());
EXPECT_DOUBLE_EQ(-1.0, rl.Get());
EXPECT_DOUBLE_EQ(1.0, rr.Get());
// Rotate CCW
drive.DrivePolar(0.0, 0.0, -1.0);
EXPECT_DOUBLE_EQ(-1.0, fl.Get());
EXPECT_DOUBLE_EQ(1.0, fr.Get());
EXPECT_DOUBLE_EQ(-1.0, rl.Get());
EXPECT_DOUBLE_EQ(1.0, rr.Get());
// Rotate CW
drive.DrivePolar(0.0, 0.0, 1.0);
EXPECT_DOUBLE_EQ(1.0, fl.Get());
EXPECT_DOUBLE_EQ(-1.0, fr.Get());
EXPECT_DOUBLE_EQ(1.0, rl.Get());
EXPECT_DOUBLE_EQ(-1.0, rr.Get());
}
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