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;
}