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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / f7f267a91e70db6e5f62b09d88f0d02f15c904e8 / . / wpilibcIntegrationTests / src / MotorInvertingTest.cpp
blob: c7015c850f555afe419a19d3a2f403421e5dd1ee [file] [log] [blame]
Brian Silvermanf7f267a2017-02-04 16:16:08 -0800[diff] [blame^]1/*----------------------------------------------------------------------------*/
2/* Copyright (c) FIRST 2014-2017. 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 the root directory of */
5/* the project. */
6/*----------------------------------------------------------------------------*/
7
8#include "Encoder.h"
9#include "Jaguar.h"
10#include "Talon.h"
11#include "TestBench.h"
12#include "Timer.h"
13#include "Victor.h"
14#include "gtest/gtest.h"
15
16using namespace frc;
17
18enum MotorInvertingTestType { TEST_VICTOR, TEST_JAGUAR, TEST_TALON };
19static const double motorSpeed = 0.15;
20static const double delayTime = 0.5;
21std::ostream& operator<<(std::ostream& os, MotorInvertingTestType const& type) {
22 switch (type) {
23 case TEST_VICTOR:
24 os << "Victor";
25 break;
26 case TEST_JAGUAR:
27 os << "Jaguar";
28 break;
29 case TEST_TALON:
30 os << "Talon";
31 break;
32 }
33
34 return os;
35}
36class MotorInvertingTest
37 : public testing::TestWithParam<MotorInvertingTestType> {
38 protected:
39 SpeedController* m_speedController;
40 Encoder* m_encoder;
41 void SetUp() override {
42 switch (GetParam()) {
43 case TEST_VICTOR:
44 m_speedController = new Victor(TestBench::kVictorChannel);
45 m_encoder = new Encoder(TestBench::kVictorEncoderChannelA,
46 TestBench::kVictorEncoderChannelB);
47 break;
48
49 case TEST_JAGUAR:
50 m_speedController = new Jaguar(TestBench::kJaguarChannel);
51 m_encoder = new Encoder(TestBench::kJaguarEncoderChannelA,
52 TestBench::kJaguarEncoderChannelB);
53 break;
54
55 case TEST_TALON:
56 m_speedController = new Talon(TestBench::kTalonChannel);
57 m_encoder = new Encoder(TestBench::kTalonEncoderChannelA,
58 TestBench::kTalonEncoderChannelB);
59 break;
60 }
61 }
62 void TearDown() override {
63 delete m_speedController;
64 delete m_encoder;
65 }
66
67 void Reset() {
68 m_speedController->SetInverted(false);
69 m_speedController->Set(0.0);
70 m_encoder->Reset();
71 }
72};
73
74TEST_P(MotorInvertingTest, InvertingPositive) {
75 Reset();
76 m_speedController->Set(motorSpeed);
77 Wait(delayTime);
78 bool initDirection = m_encoder->GetDirection();
79 m_speedController->SetInverted(true);
80 m_speedController->Set(motorSpeed);
81 Wait(delayTime);
82 EXPECT_TRUE(m_encoder->GetDirection() != initDirection)
83 << "Inverting with Positive value does not change direction";
84 Reset();
85}
86TEST_P(MotorInvertingTest, InvertingNegative) {
87 Reset();
88 m_speedController->SetInverted(false);
89 m_speedController->Set(-motorSpeed);
90 Wait(delayTime);
91 bool initDirection = m_encoder->GetDirection();
92 m_speedController->SetInverted(true);
93 m_speedController->Set(-motorSpeed);
94 Wait(delayTime);
95 EXPECT_TRUE(m_encoder->GetDirection() != initDirection)
96 << "Inverting with Negative value does not change direction";
97 Reset();
98}
99TEST_P(MotorInvertingTest, InvertingSwitchingPosToNeg) {
100 Reset();
101 m_speedController->SetInverted(false);
102 m_speedController->Set(motorSpeed);
103 Wait(delayTime);
104 bool initDirection = m_encoder->GetDirection();
105 m_speedController->SetInverted(true);
106 m_speedController->Set(-motorSpeed);
107 Wait(delayTime);
108 EXPECT_TRUE(m_encoder->GetDirection() == initDirection)
109 << "Inverting with Switching value does change direction";
110 Reset();
111}
112TEST_P(MotorInvertingTest, InvertingSwitchingNegToPos) {
113 Reset();
114 m_speedController->SetInverted(false);
115 m_speedController->Set(-motorSpeed);
116 Wait(delayTime);
117 bool initDirection = m_encoder->GetDirection();
118 m_speedController->SetInverted(true);
119 m_speedController->Set(motorSpeed);
120 Wait(delayTime);
121 EXPECT_TRUE(m_encoder->GetDirection() == initDirection)
122 << "Inverting with Switching value does change direction";
123 Reset();
124}
125INSTANTIATE_TEST_CASE_P(Test, MotorInvertingTest,
126 testing::Values(TEST_VICTOR, TEST_JAGUAR, TEST_TALON));