mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
aa3b24092a
Adds Logger output to tests when they fail to allow the rest of the tests to run while you can follow the failure stack trace. This allows you to begin working on fixing the failure before the remainder of the tests have run. Change-Id: I84adfad0b31b166f027d0bf9797a23856dd02f97
155 lines
3.8 KiB
C++
155 lines
3.8 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 "WPILib.h"
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#include "gtest/gtest.h"
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#include "TestBench.h"
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enum MotorEncoderTestType { TEST_VICTOR, TEST_JAGUAR, TEST_TALON };
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std::ostream &operator<<(std::ostream &os, MotorEncoderTestType const &type) {
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switch(type) {
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case TEST_VICTOR: os << "Victor"; break;
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case TEST_JAGUAR: os << "Jaguar"; break;
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case TEST_TALON: os << "Talon"; break;
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}
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return os;
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}
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static constexpr double kMotorTime = 0.5;
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/**
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* A fixture that includes a PWM speed controller and an encoder connected to
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* the same motor.
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* @author Thomas Clark
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*/
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class MotorEncoderTest : public testing::TestWithParam<MotorEncoderTestType> {
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protected:
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SpeedController *m_speedController;
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Encoder *m_encoder;
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virtual void SetUp() {
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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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virtual void TearDown() {
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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->Set(0.0f);
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m_encoder->Reset();
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m_encoder->Start();
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}
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};
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/**
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* Test if the encoder value increments after the motor drives forward
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*/
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TEST_P(MotorEncoderTest, Increment) {
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Reset();
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/* Drive the speed controller briefly to move the encoder */
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m_speedController->Set(1.0);
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Wait(kMotorTime);
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m_speedController->Set(0.0);
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/* The encoder should be positive now */
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EXPECT_GT(m_encoder->Get(), 0)
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<< "Encoder should have incremented after the motor moved";
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}
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/**
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* Test if the encoder value decrements after the motor drives backwards
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*/
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TEST_P(MotorEncoderTest, Decrement) {
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Reset();
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/* Drive the speed controller briefly to move the encoder */
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m_speedController->Set(-1.0f);
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Wait(kMotorTime);
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m_speedController->Set(0.0f);
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/* The encoder should be positive now */
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EXPECT_LT(m_encoder->Get(), 0.0f)
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<< "Encoder should have decremented after the motor moved";
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}
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/**
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* Test if motor speeds are clamped to [-1,1]
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*/
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TEST_P(MotorEncoderTest, ClampSpeed) {
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Reset();
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m_speedController->Set(2.0f);
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Wait(kMotorTime);
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EXPECT_FLOAT_EQ(1.0f, m_speedController->Get());
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m_speedController->Set(-2.0f);
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Wait(kMotorTime);
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EXPECT_FLOAT_EQ(-1.0f, m_speedController->Get());
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}
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/**
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* Test if PID loops work
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*/
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TEST_P(MotorEncoderTest, PIDController) {
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Reset();
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PIDController pid(0.003f, 0.001f, 0.0f, m_encoder, m_speedController);
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pid.SetAbsoluteTolerance(20.0f);
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pid.SetOutputRange(-0.2f, 0.2f);
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pid.SetSetpoint(2500);
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/* 5 seconds should be plenty time to get to the setpoint */
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pid.Enable();
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Wait(5.0);
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pid.Disable();
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RecordProperty("PID Error", pid.GetError());
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EXPECT_TRUE(pid.OnTarget()) << "PID loop did not converge within 5 seconds.";
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}
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/**
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* Test resetting encoders
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*/
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TEST_P(MotorEncoderTest, Reset) {
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Reset();
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EXPECT_EQ(0, m_encoder->Get()) << "Encoder did not reset to 0";
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}
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INSTANTIATE_TEST_CASE_P(Test, MotorEncoderTest,
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testing::Values(TEST_VICTOR, TEST_JAGUAR, TEST_TALON));
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