mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
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.
79 lines
2.2 KiB
C++
79 lines
2.2 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2014-2016. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#include "CANTalon.h"
|
|
|
|
#include "gtest/gtest.h"
|
|
|
|
#include "TestBench.h"
|
|
#include "Timer.h"
|
|
|
|
const int deviceId = 0;
|
|
|
|
TEST(CANTalonTest, QuickTest) {
|
|
double throttle = 0.1;
|
|
CANTalon talon(deviceId);
|
|
talon.SetControlMode(CANSpeedController::kPercentVbus);
|
|
talon.EnableControl();
|
|
talon.Set(throttle);
|
|
Wait(0.25);
|
|
EXPECT_NEAR(talon.Get(), throttle, 5e-3);
|
|
talon.Set(-throttle);
|
|
Wait(0.25);
|
|
EXPECT_NEAR(talon.Get(), -throttle, 5e-3);
|
|
|
|
talon.Disable();
|
|
Wait(0.1);
|
|
EXPECT_FLOAT_EQ(talon.Get(), 0.0);
|
|
}
|
|
|
|
TEST(CANTalonTest, SetGetPID) {
|
|
// Tests that we can actually set and get PID values as intended.
|
|
CANTalon talon(deviceId);
|
|
double p = 0.05, i = 0.098, d = 1.23;
|
|
talon.SetPID(p, i, d);
|
|
// Wait(0.03);
|
|
EXPECT_NEAR(p, talon.GetP(), 1e-5);
|
|
EXPECT_NEAR(i, talon.GetI(), 1e-5);
|
|
EXPECT_NEAR(d, talon.GetD(), 1e-5);
|
|
// Test with new values in case the talon was already set to the previous
|
|
// ones.
|
|
p = 0.15;
|
|
i = 0.198;
|
|
d = 1.03;
|
|
talon.SetPID(p, i, d);
|
|
// Wait(0.03);
|
|
EXPECT_NEAR(p, talon.GetP(), 1e-5);
|
|
EXPECT_NEAR(i, talon.GetI(), 1e-5);
|
|
EXPECT_NEAR(d, talon.GetD(), 1e-5);
|
|
}
|
|
|
|
TEST(CANTalonTest, DISABLED_PositionModeWorks) {
|
|
CANTalon talon(deviceId);
|
|
talon.SetFeedbackDevice(CANTalon::AnalogPot);
|
|
talon.SetControlMode(CANSpeedController::kPosition);
|
|
Wait(0.1);
|
|
double p = 2;
|
|
double i = 0.00;
|
|
double d = 0.00;
|
|
Wait(0.2);
|
|
talon.SetControlMode(CANSpeedController::kPosition);
|
|
talon.SetFeedbackDevice(CANTalon::AnalogPot);
|
|
talon.SetPID(p, i, d);
|
|
Wait(0.2);
|
|
talon.Set(100);
|
|
Wait(100);
|
|
talon.Disable();
|
|
EXPECT_NEAR(talon.Get(), 500, 1000);
|
|
}
|
|
|
|
TEST(CANTalonTest, GetFaults) {
|
|
CANTalon talon(deviceId);
|
|
EXPECT_EQ(talon.GetFaults(), 0);
|
|
EXPECT_EQ(talon.GetStickyFaults(), 0);
|
|
}
|