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/MotorInvertingTest.cpp b/wpilibcIntegrationTests/src/MotorInvertingTest.cpp
new file mode 100644
index 0000000..1794299
--- /dev/null
+++ b/wpilibcIntegrationTests/src/MotorInvertingTest.cpp
@@ -0,0 +1,124 @@
+/*----------------------------------------------------------------------------*/
+/* 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <Encoder.h>
+#include <Jaguar.h>
+#include <Talon.h>
+#include <Timer.h>
+#include <Victor.h>
+#include "gtest/gtest.h"
+#include "TestBench.h"
+
+enum MotorInvertingTestType { TEST_VICTOR, TEST_JAGUAR, TEST_TALON };
+static const double motorSpeed = 0.25;
+static const double delayTime = 0.5;
+std::ostream &operator<<(std::ostream &os, MotorInvertingTestType const &type) {
+ switch (type) {
+ case TEST_VICTOR:
+ os << "Victor";
+ break;
+ case TEST_JAGUAR:
+ os << "Jaguar";
+ break;
+ case TEST_TALON:
+ os << "Talon";
+ break;
+ }
+
+ return os;
+}
+class MotorInvertingTest
+ : public testing::TestWithParam<MotorInvertingTestType> {
+ protected:
+ SpeedController *m_speedController;
+ Encoder *m_encoder;
+ virtual void SetUp() override {
+ switch (GetParam()) {
+ case TEST_VICTOR:
+ m_speedController = new Victor(TestBench::kVictorChannel);
+ m_encoder = new Encoder(TestBench::kVictorEncoderChannelA,
+ TestBench::kVictorEncoderChannelB);
+ break;
+
+ case TEST_JAGUAR:
+ m_speedController = new Jaguar(TestBench::kJaguarChannel);
+ m_encoder = new Encoder(TestBench::kJaguarEncoderChannelA,
+ TestBench::kJaguarEncoderChannelB);
+ break;
+
+ case TEST_TALON:
+ m_speedController = new Talon(TestBench::kTalonChannel);
+ m_encoder = new Encoder(TestBench::kTalonEncoderChannelA,
+ TestBench::kTalonEncoderChannelB);
+ break;
+ }
+ }
+ virtual void TearDown() override {
+ delete m_speedController;
+ delete m_encoder;
+ }
+
+ void Reset() {
+ m_speedController->SetInverted(false);
+ m_speedController->Set(0.0f);
+ m_encoder->Reset();
+ }
+};
+
+TEST_P(MotorInvertingTest, InvertingPositive) {
+ Reset();
+ m_speedController->Set(motorSpeed);
+ Wait(delayTime);
+ bool initDirection = m_encoder->GetDirection();
+ m_speedController->SetInverted(true);
+ m_speedController->Set(motorSpeed);
+ Wait(delayTime);
+ EXPECT_TRUE(m_encoder->GetDirection() != initDirection)
+ << "Inverting with Positive value does not change direction";
+ Reset();
+}
+TEST_P(MotorInvertingTest, InvertingNegative) {
+ Reset();
+ m_speedController->SetInverted(false);
+ m_speedController->Set(-motorSpeed);
+ Wait(delayTime);
+ bool initDirection = m_encoder->GetDirection();
+ m_speedController->SetInverted(true);
+ m_speedController->Set(-motorSpeed);
+ Wait(delayTime);
+ EXPECT_TRUE(m_encoder->GetDirection() != initDirection)
+ << "Inverting with Negative value does not change direction";
+ Reset();
+}
+TEST_P(MotorInvertingTest, InvertingSwitchingPosToNeg) {
+ Reset();
+ m_speedController->SetInverted(false);
+ m_speedController->Set(motorSpeed);
+ Wait(delayTime);
+ bool initDirection = m_encoder->GetDirection();
+ m_speedController->SetInverted(true);
+ m_speedController->Set(-motorSpeed);
+ Wait(delayTime);
+ EXPECT_TRUE(m_encoder->GetDirection() == initDirection)
+ << "Inverting with Switching value does change direction";
+ Reset();
+}
+TEST_P(MotorInvertingTest, InvertingSwitchingNegToPos) {
+ Reset();
+ m_speedController->SetInverted(false);
+ m_speedController->Set(-motorSpeed);
+ Wait(delayTime);
+ bool initDirection = m_encoder->GetDirection();
+ m_speedController->SetInverted(true);
+ m_speedController->Set(motorSpeed);
+ Wait(delayTime);
+ EXPECT_TRUE(m_encoder->GetDirection() == initDirection)
+ << "Inverting with Switching value does change direction";
+ Reset();
+}
+INSTANTIATE_TEST_CASE_P(Test, MotorInvertingTest,
+ testing::Values(TEST_VICTOR, TEST_JAGUAR, TEST_TALON));