| Brian Silverman | 26e4e52 | 2015-12-17 01:56:40 -0500 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) FIRST 2014. All Rights Reserved. */ |
| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */ |
| 4 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */ |
| 5 | /*----------------------------------------------------------------------------*/ |
| 6 | |
| 7 | #include <CANTalon.h> |
| 8 | #include <Timer.h> |
| 9 | #include "gtest/gtest.h" |
| 10 | #include "TestBench.h" |
| 11 | |
| 12 | const int deviceId = 0; |
| 13 | |
| 14 | TEST(CANTalonTest, QuickTest) { |
| 15 | double throttle = 0.1; |
| 16 | CANTalon talon(deviceId); |
| 17 | talon.SetControlMode(CANSpeedController::kPercentVbus); |
| 18 | talon.EnableControl(); |
| 19 | talon.Set(throttle); |
| 20 | Wait(0.25); |
| 21 | EXPECT_NEAR(talon.Get(), throttle, 5e-3); |
| 22 | talon.Set(-throttle); |
| 23 | Wait(0.25); |
| 24 | EXPECT_NEAR(talon.Get(), -throttle, 5e-3); |
| 25 | |
| 26 | talon.Disable(); |
| 27 | Wait(0.1); |
| 28 | EXPECT_FLOAT_EQ(talon.Get(), 0.0); |
| 29 | } |
| 30 | |
| 31 | TEST(CANTalonTest, SetGetPID) { |
| 32 | // Tests that we can actually set and get PID values as intended. |
| 33 | CANTalon talon(deviceId); |
| 34 | double p = 0.05, i = 0.098, d = 1.23; |
| 35 | talon.SetPID(p, i, d); |
| 36 | // Wait(0.03); |
| 37 | EXPECT_NEAR(p, talon.GetP(), 1e-5); |
| 38 | EXPECT_NEAR(i, talon.GetI(), 1e-5); |
| 39 | EXPECT_NEAR(d, talon.GetD(), 1e-5); |
| 40 | // Test with new values in case the talon was already set to the previous |
| 41 | // ones. |
| 42 | p = 0.15; |
| 43 | i = 0.198; |
| 44 | d = 1.03; |
| 45 | talon.SetPID(p, i, d); |
| 46 | // Wait(0.03); |
| 47 | EXPECT_NEAR(p, talon.GetP(), 1e-5); |
| 48 | EXPECT_NEAR(i, talon.GetI(), 1e-5); |
| 49 | EXPECT_NEAR(d, talon.GetD(), 1e-5); |
| 50 | } |
| 51 | |
| 52 | TEST(CANTalonTest, DISABLED_PositionModeWorks) { |
| 53 | CANTalon talon(deviceId); |
| 54 | talon.SetFeedbackDevice(CANTalon::AnalogPot); |
| 55 | talon.SetControlMode(CANSpeedController::kPosition); |
| 56 | Wait(0.1); |
| 57 | double p = 2; |
| 58 | double i = 0.00; |
| 59 | double d = 0.00; |
| 60 | Wait(0.2); |
| 61 | talon.SetControlMode(CANSpeedController::kPosition); |
| 62 | talon.SetFeedbackDevice(CANTalon::AnalogPot); |
| 63 | talon.SetPID(p, i, d); |
| 64 | Wait(0.2); |
| 65 | talon.Set(100); |
| 66 | Wait(100); |
| 67 | talon.Disable(); |
| 68 | EXPECT_NEAR(talon.Get(), 500, 1000); |
| 69 | } |