public static void AfterClass()
{
pdp.Dispose();
pdp = null;
fixture.Teardown();
fixture = null;
}
public static void TearDownAfterClass()
{
if (RobotBase.IsSimulation)
{
return;
}
s_me?.Teardown();
s_me = null;
}
public PDPTest(Type type, double expectedCurrentDraw)
{
MotorEncoderFixture mef = (MotorEncoderFixture)Activator.CreateInstance(type);
if (fixture != null && !fixture.Equals(mef))
{
fixture.Teardown();
}
fixture = mef;
fixture.Setup();
this.expectedStoppedCurrentDraw = expectedCurrentDraw;
}
public MotorInvertingTest(Type type)
{
if (RobotBase.IsSimulation)
{
return;
}
MotorEncoderFixture mef = (MotorEncoderFixture)Activator.CreateInstance(type);
if (fixture != null && !fixture.Equals(mef))
{
fixture.Teardown();
}
fixture = mef;
fixture.Setup();
}
public PidTest(double p, double i, double d, Type type)
{
if (RobotBase.IsSimulation)
{
return;
}
MotorEncoderFixture mef = (MotorEncoderFixture)Activator.CreateInstance(type);
if (s_me != null && !s_me.Equals(mef))
{
s_me.Teardown();
}
s_me = mef;
m_kP = p;
m_kI = i;
m_kD = d;
}
public PIDTest(double p, double i, double d, Type type)
{
if (RobotBase.IsSimulation)
{
return;
}
MotorEncoderFixture mef = (MotorEncoderFixture)Activator.CreateInstance(type);
if (me != null && !me.Equals(mef))
{
me.Teardown();
}
me = mef;
this.k_p = p;
this.k_i = i;
this.k_d = d;
}
