Squashed 'third_party/allwpilib_2016/' content from commit 7f61816
Change-Id: If9d9245880859cdf580f5d7f77045135d0521ce7
git-subtree-dir: third_party/allwpilib_2016
git-subtree-split: 7f618166ed253a24629934fcf89c3decb0528a3b
diff --git a/wpilibcIntegrationTests/src/CANTalonTest.cpp b/wpilibcIntegrationTests/src/CANTalonTest.cpp
new file mode 100644
index 0000000..2584f3f
--- /dev/null
+++ b/wpilibcIntegrationTests/src/CANTalonTest.cpp
@@ -0,0 +1,69 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014. 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 $(WIND_BASE)/WPILib. */
+/*----------------------------------------------------------------------------*/
+
+#include <CANTalon.h>
+#include <Timer.h>
+#include "gtest/gtest.h"
+#include "TestBench.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);
+}