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https://github.com/wpilibsuite/allwpilib
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d89b7dd412
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
242 lines
9.5 KiB
C++
242 lines
9.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2014-2018 FIRST. 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 "TestBench.h"
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#include "frc/AnalogInput.h"
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#include "frc/Compressor.h"
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#include "frc/DigitalInput.h"
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#include "frc/DigitalOutput.h"
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#include "frc/DoubleSolenoid.h"
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#include "frc/Solenoid.h"
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#include "frc/Timer.h"
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#include "gtest/gtest.h"
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using namespace frc;
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/* The PCM switches the compressor up to a couple seconds after the pressure
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switch changes. */
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static const double kCompressorDelayTime = 3.0;
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/* Solenoids should change much more quickly */
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static const double kSolenoidDelayTime = 0.5;
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/* The voltage divider on the test bench should bring the compressor output
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to around these values. */
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static const double kCompressorOnVoltage = 5.00;
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static const double kCompressorOffVoltage = 1.68;
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class PCMTest : public testing::Test {
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protected:
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Compressor* m_compressor;
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DigitalOutput* m_fakePressureSwitch;
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AnalogInput* m_fakeCompressor;
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DoubleSolenoid* m_doubleSolenoid;
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DigitalInput *m_fakeSolenoid1, *m_fakeSolenoid2;
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void SetUp() override {
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m_compressor = new Compressor();
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m_fakePressureSwitch =
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new DigitalOutput(TestBench::kFakePressureSwitchChannel);
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m_fakeCompressor = new AnalogInput(TestBench::kFakeCompressorChannel);
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m_fakeSolenoid1 = new DigitalInput(TestBench::kFakeSolenoid1Channel);
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m_fakeSolenoid2 = new DigitalInput(TestBench::kFakeSolenoid2Channel);
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}
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void TearDown() override {
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delete m_compressor;
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delete m_fakePressureSwitch;
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delete m_fakeCompressor;
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delete m_fakeSolenoid1;
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delete m_fakeSolenoid2;
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}
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void Reset() {
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m_compressor->Stop();
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m_fakePressureSwitch->Set(false);
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}
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};
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/**
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* Test if the compressor turns on and off when the pressure switch is toggled
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*/
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TEST_F(PCMTest, PressureSwitch) {
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Reset();
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m_compressor->SetClosedLoopControl(true);
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// Turn on the compressor
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m_fakePressureSwitch->Set(true);
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Wait(kCompressorDelayTime);
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EXPECT_NEAR(kCompressorOnVoltage, m_fakeCompressor->GetVoltage(), 0.5)
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<< "Compressor did not turn on when the pressure switch turned on.";
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// Turn off the compressor
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m_fakePressureSwitch->Set(false);
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Wait(kCompressorDelayTime);
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EXPECT_NEAR(kCompressorOffVoltage, m_fakeCompressor->GetVoltage(), 0.5)
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<< "Compressor did not turn off when the pressure switch turned off.";
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}
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/**
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* Test if the correct solenoids turn on and off when they should
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*/
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TEST_F(PCMTest, Solenoid) {
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Reset();
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Solenoid solenoid1(TestBench::kSolenoidChannel1);
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Solenoid solenoid2(TestBench::kSolenoidChannel2);
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// Turn both solenoids off
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solenoid1.Set(false);
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solenoid2.Set(false);
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Wait(kSolenoidDelayTime);
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EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
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EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
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EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
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EXPECT_FALSE(solenoid2.Get()) << "Solenoid #2 did not read off";
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// Turn one solenoid on and one off
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solenoid1.Set(true);
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solenoid2.Set(false);
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Wait(kSolenoidDelayTime);
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EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
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EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
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EXPECT_TRUE(solenoid1.Get()) << "Solenoid #1 did not read on";
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EXPECT_FALSE(solenoid2.Get()) << "Solenoid #2 did not read off";
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// Turn one solenoid on and one off
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solenoid1.Set(false);
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solenoid2.Set(true);
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Wait(kSolenoidDelayTime);
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EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
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EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
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EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
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EXPECT_TRUE(solenoid2.Get()) << "Solenoid #2 did not read on";
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// Turn both on
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solenoid1.Set(true);
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solenoid2.Set(true);
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Wait(kSolenoidDelayTime);
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EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
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EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
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EXPECT_TRUE(solenoid1.Get()) << "Solenoid #1 did not read on";
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EXPECT_TRUE(solenoid2.Get()) << "Solenoid #2 did not read on";
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}
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/**
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* Test if the correct solenoids turn on and off when they should when used
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* with the DoubleSolenoid class.
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*/
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TEST_F(PCMTest, DoubleSolenoid) {
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DoubleSolenoid solenoid(TestBench::kSolenoidChannel1,
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TestBench::kSolenoidChannel2);
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solenoid.Set(DoubleSolenoid::kOff);
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Wait(kSolenoidDelayTime);
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EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
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EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
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EXPECT_TRUE(solenoid.Get() == DoubleSolenoid::kOff)
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<< "Solenoid does not read off";
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solenoid.Set(DoubleSolenoid::kForward);
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Wait(kSolenoidDelayTime);
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EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
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EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
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EXPECT_TRUE(solenoid.Get() == DoubleSolenoid::kForward)
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<< "Solenoid does not read forward";
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solenoid.Set(DoubleSolenoid::kReverse);
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Wait(kSolenoidDelayTime);
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EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
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EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
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EXPECT_TRUE(solenoid.Get() == DoubleSolenoid::kReverse)
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<< "Solenoid does not read reverse";
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}
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TEST_F(PCMTest, OneShot) {
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Reset();
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Solenoid solenoid1(TestBench::kSolenoidChannel1);
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Solenoid solenoid2(TestBench::kSolenoidChannel2);
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// Turn both solenoids off
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solenoid1.Set(false);
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solenoid2.Set(false);
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Wait(kSolenoidDelayTime);
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EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
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EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
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EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
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EXPECT_FALSE(solenoid2.Get()) << "Solenoid #2 did not read off";
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// Pulse Solenoid #1 on, and turn Solenoid #2 off
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solenoid1.SetPulseDuration(2 * kSolenoidDelayTime);
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solenoid2.Set(false);
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solenoid1.StartPulse();
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Wait(kSolenoidDelayTime);
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EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
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EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
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EXPECT_TRUE(solenoid1.Get()) << "Solenoid #1 did not read on";
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EXPECT_FALSE(solenoid2.Get()) << "Solenoid #2 did not read off";
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Wait(2 * kSolenoidDelayTime);
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EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
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EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
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EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
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EXPECT_FALSE(solenoid2.Get()) << "Solenoid #2 did not read off";
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// Turn Solenoid #1 off, and pulse Solenoid #2 on
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solenoid1.Set(false);
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solenoid2.SetPulseDuration(2 * kSolenoidDelayTime);
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solenoid2.StartPulse();
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Wait(kSolenoidDelayTime);
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EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
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EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
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EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
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EXPECT_TRUE(solenoid2.Get()) << "Solenoid #2 did not read on";
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Wait(2 * kSolenoidDelayTime);
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EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
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EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
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EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
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EXPECT_FALSE(solenoid2.Get()) << "Solenoid #2 did not read off";
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// Pulse both Solenoids on
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solenoid1.SetPulseDuration(2 * kSolenoidDelayTime);
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solenoid2.SetPulseDuration(2 * kSolenoidDelayTime);
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solenoid1.StartPulse();
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solenoid2.StartPulse();
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Wait(kSolenoidDelayTime);
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EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
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EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
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EXPECT_TRUE(solenoid1.Get()) << "Solenoid #1 did not read on";
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EXPECT_TRUE(solenoid2.Get()) << "Solenoid #2 did not read on";
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Wait(2 * kSolenoidDelayTime);
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EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
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EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
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EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
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EXPECT_FALSE(solenoid2.Get()) << "Solenoid #2 did not read off";
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// Pulse both Solenoids on with different durations
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solenoid1.SetPulseDuration(1.5 * kSolenoidDelayTime);
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solenoid2.SetPulseDuration(2.5 * kSolenoidDelayTime);
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solenoid1.StartPulse();
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solenoid2.StartPulse();
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Wait(kSolenoidDelayTime);
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EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
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EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
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EXPECT_TRUE(solenoid1.Get()) << "Solenoid #1 did not read on";
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EXPECT_TRUE(solenoid2.Get()) << "Solenoid #2 did not read on";
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Wait(kSolenoidDelayTime);
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EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
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EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
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EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
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EXPECT_TRUE(solenoid2.Get()) << "Solenoid #2 did not read on";
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Wait(2 * kSolenoidDelayTime);
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EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
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EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
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EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
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EXPECT_FALSE(solenoid2.Get()) << "Solenoid #2 did not read off";
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}
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