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 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);
}
