public void TestEnableDisable()
{
TestablePWMOutput TestPWMOutput = new TestablePWMOutput();
float SteadyStateEpsilon = 0.001f;
LowPass <float> TestLPF = new LowPass <float>(SteadyStateEpsilon: SteadyStateEpsilon);
TestPWMOutput.SetOutput(0.3f);
TalonMC TestMotor = new TalonMC(TestPWMOutput, 0.4f, TestLPF);
TestMotor.SetSpeed(0.5f);
Thread.Sleep(500);
Assert.AreEqual(0.5f, TestMotor.TargetSpeed);
// Assert.AreNotEqual(TestMotor.OngoingSpeedThread, TestLPF.IsSteadyState());
Assert.AreNotEqual(SteadyStateEpsilon == 0.0f, TestLPF.IsSteadyState());
TestMotor.SetEnabled(false);
Assert.AreEqual(0.5f, TestMotor.TargetSpeed);
Assert.AreEqual(0.5f, TestPWMOutput.DutyCycle);
TestMotor.SetEnabled(true);
Assert.AreEqual(0.5f, TestMotor.TargetSpeed);
Thread.Sleep(500);
Assert.AreNotEqual(0.5f, TestPWMOutput.DutyCycle);
}
internal static void TestMotor()
{
BBBPinManager.AddMappingPWM(BBBPin.P9_14);
BBBPinManager.ApplyPinSettings(RoverMain.ApplyDevTree);
IPWMOutput MotorOut = PWMBBB.PWMDevice1.OutputA;
IFilter <float> MotorFilter = new Average <float>(5);
TalonMC Motor = new TalonMC(MotorOut, 1F, MotorFilter);
Log.SetSingleOutputLevel(Log.Source.MOTORS, Log.Severity.DEBUG);
Motor.SetSpeed(0.2f);
/*while (true)
* {
* Log.Output(Log.Severity.DEBUG, Log.Source.MOTORS, "Outputs: " + Motor.TargetSpeed + ", " + ((PWMOutputBBB)MotorOut).GetOutput() + ", " + ((PWMOutputBBB)MotorOut).GetFrequency());
* //Motor.UpdateState();
* Thread.Sleep(100);
* }*/
int Cycle = 0;
while (true)
{
Motor.SetSpeed(((Cycle / 10) % 2 == 0) ? 1 : -1);
Thread.Sleep(25);
Cycle += 1;
}
}
public void Initialize()
{
IPWMOutput MotorPWM = PWMBBB.PWMDevice2.OutputA;
IPWMOutput ServoPWM = PWMBBB.PWMDevice0.OutputB;
this.MotorCtrl = new TalonMC(MotorPWM, MOTOR_MAX_SPEED);
this.DoorServo = new Servo(ServoPWM);
}
public void Initialize()
{
IPWMOutput MotorOut = PWMBBB.PWMDevice1.OutputB;
this.MotorCtrl = new TalonMC(MotorOut, MOTOR_MAX_SPEED);
//this.Pot = new Potentiometer(null, 300);
//this.Pot.Turned += this.EventTriggered;
this.GotoDrill();
}
public Drill(IPWMOutput MotorPWM, IPWMOutput ServoPWM)
{
this.Out = MotorPWM;
((Scarlet.Components.Outputs.PCA9685.PWMOutputPCA9685)MotorPWM).Reset();
((Scarlet.Components.Outputs.PCA9685.PWMOutputPCA9685)MotorPWM).SetPolarity(true);
this.MotorCtrl = new TalonMC(MotorPWM, MOTOR_MAX_SPEED);
this.DoorServo = new Servo(ServoPWM)
{
TraceLogging = true
};
this.DoorServo.SetEnabled(true);
}
public void TestBasicOutput()
{
// Given a test PWM Output
TestablePWMOutput TestPWMOutput = new TestablePWMOutput();
TestablePWMOutput TestPWMOutput2 = new TestablePWMOutput();
TestPWMOutput.SetOutput(0.3f); // Arbitrary choices
TestPWMOutput2.SetOutput(0.1f); // to aid in debugging
// And a null filter and arbitrary max speed (0.2) for example
// See how the output of the motor responds.
TalonMC PositiveMaxSpeedTalon = new TalonMC(TestPWMOutput, 0.2f, null);
TalonMC NegativeMaxSpeedTalon = new TalonMC(TestPWMOutput2, -0.2f, null);
Assert.AreEqual(NegativeMaxSpeedTalon.TargetSpeed, 0.0);
Assert.AreEqual(PositiveMaxSpeedTalon.TargetSpeed, 0.0);
Assert.AreEqual(TestPWMOutput.DutyCycle, 0.5f);
Assert.AreEqual(TestPWMOutput2.DutyCycle, 0.5f);
// Tested these conditions by setting OngoingSpeedThread to public
// then set it back.
// Assert.IsFalse(PositiveMaxSpeedTalon.OngoingSpeedThread);
// Assert.IsFalse(NegativeMaxSpeedTalon.OngoingSpeedThread);
PositiveMaxSpeedTalon.SetSpeed(-1.0f);
NegativeMaxSpeedTalon.SetSpeed(1.0f);
// Tested these conditions by setting OngoingSpeedThread to public
// then set it back.
// Assert.IsFalse(PositiveMaxSpeedTalon.OngoingSpeedThread);
// Assert.IsFalse(NegativeMaxSpeedTalon.OngoingSpeedThread);
Assert.AreEqual(-1 * PositiveMaxSpeedTalon.TargetSpeed, NegativeMaxSpeedTalon.TargetSpeed);
Assert.AreEqual(PositiveMaxSpeedTalon.TargetSpeed, -1.0f);
Assert.AreEqual(NegativeMaxSpeedTalon.TargetSpeed, 1.0f);
Assert.AreEqual(TestPWMOutput.Frequency, 333);
Assert.AreEqual(TestPWMOutput.DutyCycle, 7 / 15.0f);
Assert.AreEqual(TestPWMOutput2.Frequency, 333);
Assert.AreEqual(TestPWMOutput2.DutyCycle, 8 / 15.0f);
NegativeMaxSpeedTalon = new TalonMC(TestPWMOutput, -0.2f, null);
NegativeMaxSpeedTalon.SetSpeed(0.2f);
Assert.AreEqual(TestPWMOutput.DutyCycle, 8 / 15.0f);
}
public void TestThreadValidity()
{
TestablePWMOutput TestPWMOutput = new TestablePWMOutput();
LowPass <float> TestFilter = new LowPass <float>(SteadyStateEpsilon: 0.1);
TalonMC TestTalon = new TalonMC(TestPWMOutput, 0.5f, TestFilter);
// Low Pass should run continuously because it was not given an epsilon above
// Here we will make sure it doesn't block
Stopwatch Watch = new Stopwatch();
Watch.Reset();
Watch.Start();
TestTalon.SetSpeed(1.0f);
Watch.Stop();
// Allow 150ms delay for setting talon speed
Assert.IsTrue(Watch.ElapsedMilliseconds < 150);
// Test to ensure that output duty cycle rises
// (Which is controlled on another thread)
float LastDC = TestPWMOutput.DutyCycle;
Watch.Reset();
Watch.Start();
while (Watch.ElapsedMilliseconds < 2000)
{
float DC = TestPWMOutput.DutyCycle;
if (TestFilter.IsSteadyState())
{
Assert.AreEqual(DC, LastDC);
// Tested these conditions by setting OngoingSpeedThread to public
// then set it back.
// Assert.IsFalse(TestTalon.OngoingSpeedThread);
}
else
{
// Tested these conditions by setting OngoingSpeedThread to public
// then set it back.
// Assert.IsTrue(TestTalon.OngoingSpeedThread);
Assert.IsTrue(DC > LastDC);
}
LastDC = DC;
}
}
/// <summary>
/// Prepares the rail for use by moving the motor all the way up to the top to find the zero position.
/// </summary>
public void Initialize()
{ // TODO: What happens when it is already at the top? This likely won't toggle the switch...
this.Initializing = true;
IPWMOutput MotorPWM = PWMBBB.PWMDevice2.OutputB;
IDigitalIn LimitSw = new DigitalInBBB(BBBPin.P8_08);
this.MotorCtrl = new TalonMC(MotorPWM, MOTOR_MAX_SPEED);
this.Limit = new LimitSwitch(LimitSw, false);
//this.Encoder = new Encoder(2, 3, 80);
this.Limit.SwitchToggle += this.EventTriggered;
//this.Encoder.Turned += this.EventTriggered;
Timer TimeoutTrigger = new Timer()
{
Interval = INIT_TIMEOUT, AutoReset = false
};
TimeoutTrigger.Elapsed += this.EventTriggered;
TimeoutTrigger.Enabled = true;
this.GotoTop();
}
public void Initialize()
{
this.Initializing = true;
IPWMOutput MotorOut = PWMBBB.PWMDevice1.OutputA;
IDigitalIn LimitSw = new DigitalInBBB(BBBPin.P8_12);
this.MotorCtrl = new TalonMC(MotorOut, MOTOR_MAX_SPEED);
this.Limit = new LimitSwitch(LimitSw, false);
//this.Encoder = new Encoder(6, 7, 420);
this.Limit.SwitchToggle += this.EventTriggered;
//this.Encoder.Turned += this.EventTriggered;
Timer TimeoutTrigger = new Timer()
{
Interval = INIT_TIMEOUT, AutoReset = false
};
TimeoutTrigger.Elapsed += this.EventTriggered;
TimeoutTrigger.Enabled = true;
// Do init stuff.
this.TargetAngle = 360;
}
public static void Initialize()
{
MotBaseRotation = new CytronMD30C(PWMBBB.PWMDevice2.OutputA, new DigitalOutBBB(Pins.BaseRotationDir), 0.3f, new LowPass <float>());
MotShoulder = new TalonMC(PWMBBB.PWMDevice1.OutputA, 0.6f, new LowPass <float>());
MotElbow = new TalonMC(PWMBBB.PWMDevice1.OutputB, 0.3f, new LowPass <float>());
}
