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53 lines
1.4 KiB
C++
53 lines
1.4 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/PowerDistribution.h" // NOLINT(build/include_order)
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#include <hal/Ports.h>
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#include <units/time.h>
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#include "TestBench.h"
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#include "frc/Timer.h"
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#include "frc/motorcontrol/Talon.h"
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#include "gtest/gtest.h"
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static constexpr auto kMotorTime = 0.25_s;
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class PowerDistributionTest : public testing::Test {
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protected:
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frc::PowerDistribution m_pdp;
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frc::Talon m_talon{TestBench::kTalonChannel};
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};
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TEST_F(PowerDistributionTest, CheckRepeatedCalls) {
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auto numChannels = HAL_GetNumCTREPDPChannels();
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// 1 second
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for (int i = 0; i < 50; i++) {
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for (int j = 0; j < numChannels; j++) {
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m_pdp.GetCurrent(j);
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}
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m_pdp.GetVoltage();
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}
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frc::Wait(20_ms);
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}
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/**
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* Test if the current changes when the motor is driven using a talon
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*/
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TEST_F(PowerDistributionTest, CheckCurrentTalon) {
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frc::Wait(kMotorTime);
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/* The Current should be 0 */
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EXPECT_FLOAT_EQ(0, m_pdp.GetCurrent(TestBench::kTalonPDPChannel))
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<< "The Talon current was non-zero";
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/* Set the motor to full forward */
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m_talon.Set(1.0);
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frc::Wait(kMotorTime);
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/* The current should now be positive */
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ASSERT_GT(m_pdp.GetCurrent(TestBench::kTalonPDPChannel), 0)
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<< "The Talon current was not positive";
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}
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