mirror of
https://github.com/wpilibsuite/allwpilib
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d82635bbe1
Subsections are alphabetized according to lexographic ordering. Also, HAL includes were moved from headers to source files where possible. This change may cause user code which uses HAL functionality and does not include the relevant HAL header (since it may have been provided by another WPILib header) to fail to compile.
77 lines
2.9 KiB
C++
77 lines
2.9 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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#pragma once
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#include <stdint.h>
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class TestBench {
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public:
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/* Analog input channels */
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static const uint32_t kCameraGyroChannel = 0;
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static const uint32_t kFakeCompressorChannel = 1;
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static const uint32_t kFakeAnalogOutputChannel = 2;
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/* Analog output channels */
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static const uint32_t kAnalogOutputChannel = 0;
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static const uint32_t kFakeJaguarPotentiometer = 1;
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/* DIO channels */
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static const uint32_t kTalonEncoderChannelA = 0;
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static const uint32_t kTalonEncoderChannelB = 1;
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static const uint32_t kVictorEncoderChannelA = 2;
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static const uint32_t kVictorEncoderChannelB = 3;
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static const uint32_t kJaguarEncoderChannelA = 4;
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static const uint32_t kJaguarEncoderChannelB = 5;
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static const uint32_t kLoop1OutputChannel = 6;
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static const uint32_t kLoop1InputChannel = 7;
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static const uint32_t kLoop2OutputChannel = 8;
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static const uint32_t kLoop2InputChannel = 9;
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/* PWM channels */
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static const uint32_t kVictorChannel = 1;
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static const uint32_t kJaguarChannel = 2;
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static const uint32_t kCameraPanChannel = 8;
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static const uint32_t kCameraTiltChannel = 9;
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/* MXP digital channels */
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static const uint32_t kTalonChannel = 10;
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static const uint32_t kFakePressureSwitchChannel = 11;
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static const uint32_t kFakeSolenoid1Channel = 12;
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static const uint32_t kFakeSolenoid2Channel = 13;
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static const uint32_t kFakeRelayForward = 18;
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static const uint32_t kFakeRelayReverse = 19;
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static const uint32_t kFakeJaguarForwardLimit = 20;
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static const uint32_t kFakeJaguarReverseLimit = 21;
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/* Relay channels */
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static const uint32_t kRelayChannel = 0;
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static const uint32_t kCANJaguarRelayChannel = 1;
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/* CAN IDs */
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static const uint32_t kCANJaguarID = 2;
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/* PDP channels */
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static const uint32_t kJaguarPDPChannel = 6;
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static const uint32_t kVictorPDPChannel = 8;
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static const uint32_t kTalonPDPChannel = 10;
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/* PCM channels */
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static const int32_t kSolenoidChannel1 = 0;
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static const int32_t kSolenoidChannel2 = 1;
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/* Filter constants */
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static constexpr double kFilterStep = 0.005;
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static constexpr double kFilterTime = 2.0;
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static constexpr double kSinglePoleIIRTimeConstant = 0.015915;
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static constexpr double kSinglePoleIIRExpectedOutput = -3.2172003;
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static constexpr double kHighPassTimeConstant = 0.006631;
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static constexpr double kHighPassExpectedOutput = 10.074717;
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static constexpr int kMovAvgTaps = 6;
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static constexpr double kMovAvgExpectedOutput = -10.191644;
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};
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