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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / bb9dcb9a62b08a6e17ec74a279a5352a50d19672
commitbb9dcb9a62b08a6e17ec74a279a5352a50d19672[log] [tgz]
authorCampbell Crowley <mail@campbellcrowley.com>Sat Feb 18 22:26:11 2017 -0800
committerCampbell Crowley <mail@campbellcrowley.com>Sun Feb 19 00:27:32 2017 -0800
tree988516a56bb74ea9576c597116fb0347f17b77a8
parent169f5f2f8bf76edc917ad9b29ac00f1a151355d0 [diff]
Add test to validate voltage saturation behaviour

Austin is worried about the voltage that is requested of an output
when it comes out of saturation. This test lets us plot such a
scenario.

I used the following plot definitions to plot:
  superstructure_lib_test goal hood angle
  superstructure_lib_test status hood position
  superstructure_lib_test output voltage_hood

Create the plot as follows:
  $ bazel run \
      y2017/control_loops/superstructure:superstructure_lib_test -- \
      --gtest_filter=SuperstructureTest.SaturationTest \
      -p -o "$(pwd)"/log.log \
      && ./frc971/analysis/plot_action.py \
          -p saturation_plot_defs log.log

Change-Id: Iae117a083812019d05e849efe3b8f21cb27f3c45
1 file changed
tree: 988516a56bb74ea9576c597116fb0347f17b77a8
  1. aos/
  2. build_tests/
  3. compilers/
  4. debian/
  5. doc/
  6. frc971/
  7. third_party/
  8. tools/
  9. vm/
  10. y2012/
  11. y2014/
  12. y2014_bot3/
  13. y2015/
  14. y2015_bot3/
  15. y2016/
  16. y2016_bot3/
  17. y2016_bot4/
  18. y2017/
  19. .clang-format
  20. .gitignore
  21. LICENSE.txt
  22. NO_BUILD_AMD64
  23. NO_BUILD_ROBORIO
  24. README.md
  25. WORKSPACE
README.md

Introduction

This is FRC Team 971's main code repository. There are README* files throughout the source tree documenting specifics for their respective folders.

Access to the code

The main central location for our code is our Gerrit server at https://robotics.mvla.net/gerrit. To get a copy of the code on your computer to work with, follow these steps:

  1. Contact Michael Schuh to get an SVN account.
  2. Go to Gerrit and create an account.
  3. Contact Brian Silverman with your SVN username to get access to the code in Gerrit.
  4. Go to the 971-Robot-Code project in Gerrit and run the command. Running the clone with commit-msg hook command will save you trouble later.

To learn more about git, see git(1) (man git or git(1) (especially the NOTES section).

Code reviews

We want all code to at least have a second person look over it before it gets merged into the master branch. Gerrit has extensive documentation on starting reviews. TL;DR: git push origin HEAD:refs/for/master and then click on the link to add reviewers. If you just upload a change without adding any reviewers, it might sit around for a long time before anybody else notices it. git-review can make the upload process simpler.

Building the code

The currently supported operating system for building the code is amd64 Debian Jessie. It is likely to work on any x86_64 GNU/Linux system, but that's not at all well-tested.

We use Bazel to build the code. Bazel has extensive docs and does a nice job with fast, correct increment rebuilds.

Steps to set up a computer to build the code: 0. Set up the required APT repositories: Download frc971.list and llvm.org.list and put them in /etc/apt/sources.list.d/.

  1. Install the required packages:
apt-get install python libpython-dev bazel ruby clang-format-3.5 clang-3.6 gfortran libblas-dev liblapack-dev python-scipy python-matplotlib
  1. Allow Bazel's sandboxing to work: Follow the direction in doc/frc971.conf.

Some useful Bazel commands:

  • Build and test everything (on the host system):
bazel test //... -- $(cat NO_BUILD_AMD64)
bazel build --cpu=roborio //... -- $(cat NO_BUILD_ROBORIO)

The NO_BUILD_{AMD64,ROBORIO} files contain lists of the targets which are intentionally not built for the various CPUs.
  • Build the code for a specific robot:
bazel build --cpu=roborio --compilation_mode=opt //y2015/...
  • Download code to a robot:
bazel run --cpu=roborio --compilation_mode=opt //y2015:download roboRIO-971.local