mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
7b371f6d7c
I also updated the C++ and Java code some. For C++, this meant making it compile and adding in the framework for the closed-loop control of the motor. For Java, I updated the JNI bindings with SWIG and created an GetTemperature accessor function to demonstrate how to use the accessors because swig does funny stuff with pass-by-reference functions. Change-Id: If51bf61d0a9bc65a8d497f8d91a5be8d6ff4fdcc
60 lines
1.7 KiB
C++
60 lines
1.7 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 $(WIND_BASE)/WPILib. */
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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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const int deviceId = 0;
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TEST(CANTalonTest, QuickTest) {
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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(0.5);
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Wait(0.25);
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EXPECT_NEAR(talon.Get(), 0.5, 5e-3);
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talon.Set(-0.5);
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Wait(0.25);
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EXPECT_NEAR(talon.Get(), -0.5, 5e-3);
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talon.Disable();
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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(0.1);
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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 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(0.1);
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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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double p = 1;
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double i = 0.05;
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double d = 0.01;
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talon.SetPID(p, i, d);
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talon.SetControlMode(CANSpeedController::kPosition);
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talon.Set(1000);
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talon.EnableControl();
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Wait(10.0);
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talon.Disable();
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EXPECT_NEAR(talon.Get(), 1000, 100);
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}
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