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);
}
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;
}
}
