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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 1a67511767f0d422c346bbe181debaf7bd9e03a9 / . / wpilibcIntegrationTests / src / MotorInvertingTest.cpp
blob: fc78c32cee61741dfcb1a718df809a4de8346627 [file] [log] [blame]
Brian Silverman26e4e522015-12-17 01:56:40 -0500[diff] [blame]1/*----------------------------------------------------------------------------*/
Brian Silverman1a675112016-02-20 20:42:49 -0500[diff] [blame^]2/* Copyright (c) FIRST 2014-2016. All Rights Reserved. */
Brian Silverman26e4e522015-12-17 01:56:40 -0500[diff] [blame]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 the root directory of */
5/* the project. */
6/*----------------------------------------------------------------------------*/
7
8#include <Encoder.h>
9#include <Jaguar.h>
10#include <Talon.h>
11#include <Timer.h>
12#include <Victor.h>
13#include "gtest/gtest.h"
14#include "TestBench.h"
15
16enum MotorInvertingTestType { TEST_VICTOR, TEST_JAGUAR, TEST_TALON };
Brian Silverman1a675112016-02-20 20:42:49 -0500[diff] [blame^]17static const double motorSpeed = 0.15;
Brian Silverman26e4e522015-12-17 01:56:40 -0500[diff] [blame]18static const double delayTime = 0.5;
19std::ostream &operator<<(std::ostream &os, MotorInvertingTestType const &type) {
20 switch (type) {
21 case TEST_VICTOR:
22 os << "Victor";
23 break;
24 case TEST_JAGUAR:
25 os << "Jaguar";
26 break;
27 case TEST_TALON:
28 os << "Talon";
29 break;
30 }
31
32 return os;
33}
34class MotorInvertingTest
35 : public testing::TestWithParam<MotorInvertingTestType> {
36 protected:
37 SpeedController *m_speedController;
38 Encoder *m_encoder;
39 virtual void SetUp() override {
40 switch (GetParam()) {
41 case TEST_VICTOR:
42 m_speedController = new Victor(TestBench::kVictorChannel);
43 m_encoder = new Encoder(TestBench::kVictorEncoderChannelA,
44 TestBench::kVictorEncoderChannelB);
45 break;
46
47 case TEST_JAGUAR:
48 m_speedController = new Jaguar(TestBench::kJaguarChannel);
49 m_encoder = new Encoder(TestBench::kJaguarEncoderChannelA,
50 TestBench::kJaguarEncoderChannelB);
51 break;
52
53 case TEST_TALON:
54 m_speedController = new Talon(TestBench::kTalonChannel);
55 m_encoder = new Encoder(TestBench::kTalonEncoderChannelA,
56 TestBench::kTalonEncoderChannelB);
57 break;
58 }
59 }
60 virtual void TearDown() override {
61 delete m_speedController;
62 delete m_encoder;
63 }
64
65 void Reset() {
66 m_speedController->SetInverted(false);
67 m_speedController->Set(0.0f);
68 m_encoder->Reset();
69 }
70};
71
72TEST_P(MotorInvertingTest, InvertingPositive) {
73 Reset();
74 m_speedController->Set(motorSpeed);
75 Wait(delayTime);
76 bool initDirection = m_encoder->GetDirection();
77 m_speedController->SetInverted(true);
78 m_speedController->Set(motorSpeed);
79 Wait(delayTime);
80 EXPECT_TRUE(m_encoder->GetDirection() != initDirection)
81 << "Inverting with Positive value does not change direction";
82 Reset();
83}
84TEST_P(MotorInvertingTest, InvertingNegative) {
85 Reset();
86 m_speedController->SetInverted(false);
87 m_speedController->Set(-motorSpeed);
88 Wait(delayTime);
89 bool initDirection = m_encoder->GetDirection();
90 m_speedController->SetInverted(true);
91 m_speedController->Set(-motorSpeed);
92 Wait(delayTime);
93 EXPECT_TRUE(m_encoder->GetDirection() != initDirection)
94 << "Inverting with Negative value does not change direction";
95 Reset();
96}
97TEST_P(MotorInvertingTest, InvertingSwitchingPosToNeg) {
98 Reset();
99 m_speedController->SetInverted(false);
100 m_speedController->Set(motorSpeed);
101 Wait(delayTime);
102 bool initDirection = m_encoder->GetDirection();
103 m_speedController->SetInverted(true);
104 m_speedController->Set(-motorSpeed);
105 Wait(delayTime);
106 EXPECT_TRUE(m_encoder->GetDirection() == initDirection)
107 << "Inverting with Switching value does change direction";
108 Reset();
109}
110TEST_P(MotorInvertingTest, InvertingSwitchingNegToPos) {
111 Reset();
112 m_speedController->SetInverted(false);
113 m_speedController->Set(-motorSpeed);
114 Wait(delayTime);
115 bool initDirection = m_encoder->GetDirection();
116 m_speedController->SetInverted(true);
117 m_speedController->Set(motorSpeed);
118 Wait(delayTime);
119 EXPECT_TRUE(m_encoder->GetDirection() == initDirection)
120 << "Inverting with Switching value does change direction";
121 Reset();
122}
123INSTANTIATE_TEST_CASE_P(Test, MotorInvertingTest,
124 testing::Values(TEST_VICTOR, TEST_JAGUAR, TEST_TALON));