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 TestInitialization()
{
LowPass <double> Test0 = new LowPass <double>();
LowPass <double> Test1 = new LowPass <double>(-3);
LowPass <double> Test2 = new LowPass <double>(3);
Assert.ThrowsException <ArgumentException>(() => new LowPass <string>());
}
public ArmMotorController()
{
Scarlet.Utilities.StateStore.Start("ARM");
BBBPinManager.AddMappingPWM(ShoulderPin);
BBBPinManager.AddMappingPWM(ElbowPin);
BBBPinManager.AddMappingPWM(WristPin1);
BBBPinManager.AddMappingPWM(WristPin2);
BBBPinManager.AddMappingGPIO(WristDirectionPin1, true, ResistorState.PULL_UP);
BBBPinManager.AddMappingGPIO(WristDirectionPin2, true, ResistorState.PULL_UP);
BBBPinManager.AddMappingADC(ShoulderPotPin);
BBBPinManager.AddMappingADC(ElbowPotPin);
BBBPinManager.AddMappingADC(WristPotPin);
BBBPinManager.ApplyPinSettings(BBBPinManager.ApplicationMode.APPLY_IF_NONE);
BeagleBone.Initialize(SystemMode.DEFAULT, true);
const double DegToRad = Math.PI / 180.0;
a = new Arm((0, 0, Math.PI / 2, Math.PI / 2, 0, 0, 6.8),
(0, 0, -76 * DegToRad, 100 * DegToRad, 0, 0, 28.0),
(0, 0, -168.51 * DegToRad, -10 * DegToRad, 0, 0, 28.0),
(-2 * Math.PI, 2 * Math.PI, -Math.PI / 2, Math.PI / 2, 0, 0, 12.75));
//(0, 12.75, -Math.PI / 2, Math.PI / 2));
LowPass <float> ShoulderFilter = new LowPass <float>();
LowPass <float> ElbowFilter = new LowPass <float>();
ShoulderPWM = PWMBBB.PWMDevice1.OutputB;
ElbowPWM = PWMBBB.PWMDevice1.OutputA;
IPWMOutput WristPWM1 = PWMBBB.PWMDevice2.OutputB;
IPWMOutput WristPWM2 = PWMBBB.PWMDevice2.OutputA;
IDigitalOut WristDirectionGPIO1 = new DigitalOutBBB(WristDirectionPin1);
IDigitalOut WristDirectionGPIO2 = new DigitalOutBBB(WristDirectionPin2);
IAnalogueIn ShoulderADC = new AnalogueInBBB(ShoulderPotPin);
IAnalogueIn ElbowADC = new AnalogueInBBB(ElbowPotPin);
IAnalogueIn WristADC = new AnalogueInBBB(WristPotPin);
Shoulder = new TalonMC(ShoulderPWM, 0.2f, ShoulderFilter);
Elbow = new TalonMC(ElbowPWM, 0.2f, ElbowFilter);
Wrist1 = new CytronMD30C(WristPWM1, WristDirectionGPIO1, 0.3f);
Wrist2 = new CytronMD30C(WristPWM2, WristDirectionGPIO2, 0.3f);
ShoulderPot = new Potentiometer(ShoulderADC, 300);
ElbowPot = new Potentiometer(ElbowADC, 300);
WristPot = new Potentiometer(WristADC, 300);
}
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;
}
}
public void SetUp()
{
_out = new ConstantSignal <double>(() => 0.0);
if (_midiManager != null)
{
_plugin.MidiProcessor.NoteOff -= _midiManager.NoteOff;
_plugin.MidiProcessor.NoteOn -= _midiManager.NoteOn;
}
_midiManager = new MidiManager(NoteChannels);
_plugin.MidiProcessor.NoteOff += _midiManager.NoteOff;
_plugin.MidiProcessor.NoteOn += _midiManager.NoteOn;
_scratchBuffer1 = new double[this.BlockSize, 1];
_scratchBuffer2 = new double[this.BlockSize, 1];
_scratchBuffer3 = new double[this.BlockSize, 1];
_scratchBuffer4 = new double[this.BlockSize, 1];
_scratchBuffer5 = new double[this.BlockSize, 1];
_scratchBuffer6 = new double[this.BlockSize, 1];
_scratchBufferChannels1 = new double[this.BlockSize, NoteChannels];
_scratchBufferChannels2 = new double[this.BlockSize, NoteChannels];
_scratchBufferChannels3 = new double[this.BlockSize, NoteChannels];
_scratchBufferChannels4 = new double[this.BlockSize, NoteChannels];
_scratchBufferChannels5 = new double[this.BlockSize, NoteChannels];
_scratchBufferChannels6 = new double[this.BlockSize, NoteChannels];
_blockSize = BlockSize;
_sampleRate = SampleRate;
var sine1 = new Oscillator(NoteChannels, this.SampleRate)
{
Shape = Oscillator.WaveShape.Sine,
Frequency = _midiManager.ChannelFrequencies,
OctaveShift = new ConstantSignal <int>(() => _plugin.Model.Path1OctaveShift),
Amplitude = new ConstantSignal <double>(() => _plugin.Model.Sine)
};
sine1.Out.Buffer = _scratchBufferChannels1;
var square1 = new Oscillator(NoteChannels, this.SampleRate)
{
Shape = Oscillator.WaveShape.Square,
Frequency = _midiManager.ChannelFrequencies,
OctaveShift = new ConstantSignal <int>(() => _plugin.Model.Path1OctaveShift),
Amplitude = new ConstantSignal <double>(() => _plugin.Model.Square)
};
square1.Out.Buffer = _scratchBufferChannels2;
var triangle1 = new Oscillator(NoteChannels, this.SampleRate)
{
Shape = Oscillator.WaveShape.Triangle,
Frequency = _midiManager.ChannelFrequencies,
OctaveShift = new ConstantSignal <int>(() => _plugin.Model.Path1OctaveShift),
Amplitude = new ConstantSignal <double>(() => _plugin.Model.Triangle)
};
triangle1.Out.Buffer = _scratchBufferChannels3;
var sine2 = new Oscillator(NoteChannels, this.SampleRate)
{
Shape = Oscillator.WaveShape.Sine,
Frequency = _midiManager.ChannelFrequencies,
OctaveShift = new ConstantSignal <int>(() => _plugin.Model.Path2OctaveShift),
Amplitude = new ConstantSignal <double>(() => _plugin.Model.Sine)
};
sine2.Out.Buffer = _scratchBufferChannels4;
var square2 = new Oscillator(NoteChannels, this.SampleRate)
{
Shape = Oscillator.WaveShape.Square,
Frequency = _midiManager.ChannelFrequencies,
OctaveShift = new ConstantSignal <int>(() => _plugin.Model.Path2OctaveShift),
Amplitude = new ConstantSignal <double>(() => _plugin.Model.Square)
};
square2.Out.Buffer = _scratchBufferChannels5;
var triangle2 = new Oscillator(NoteChannels, this.SampleRate)
{
Shape = Oscillator.WaveShape.Triangle,
Frequency = _midiManager.ChannelFrequencies,
OctaveShift = new ConstantSignal <int>(() => _plugin.Model.Path2OctaveShift),
Amplitude = new ConstantSignal <double>(() => _plugin.Model.Triangle)
};
triangle2.Out.Buffer = _scratchBufferChannels6;
var sourceSum1 = new Sum("sourceSum");
sourceSum1.Inputs.Add(sine1.Out);
sourceSum1.Inputs.Add(square1.Out);
sourceSum1.Inputs.Add(triangle1.Out);
sourceSum1.Buffer = _scratchBufferChannels1;
var sourceSum2 = new Sum("sourceSum2");
sourceSum2.Inputs.Add(sine2.Out);
sourceSum2.Inputs.Add(square2.Out);
sourceSum2.Inputs.Add(triangle2.Out);
sourceSum2.Buffer = _scratchBufferChannels4;
var adsr1 = new Adsr(NoteChannels, this.SampleRate)
{
ReleaseDuration = new ConstantSignal <double>(() => _plugin.Model.ReleaseDuration / 5),
AttackDuration = new ConstantSignal <double>(() => _plugin.Model.AttackDuration / 10),
DecayDuration = new ConstantSignal <double>(() => _plugin.Model.DecayDuration / 10),
Attack = new ConstantSignal <double>(() => _plugin.Model.AttackStrength),
Sustain = new ConstantSignal <double>(() => _plugin.Model.SustainStrength),
Triggers = _midiManager.ChannelTriggers,
Input = sourceSum1
};
adsr1.Out.Buffer = _scratchBufferChannels1;
var adsr2 = new Adsr(NoteChannels, this.SampleRate)
{
ReleaseDuration = new ConstantSignal <double>(() => _plugin.Model.ReleaseDuration / 5),
AttackDuration = new ConstantSignal <double>(() => _plugin.Model.AttackDuration / 10),
DecayDuration = new ConstantSignal <double>(() => _plugin.Model.DecayDuration / 10),
Attack = new ConstantSignal <double>(() => _plugin.Model.AttackStrength),
Sustain = new ConstantSignal <double>(() => _plugin.Model.SustainStrength),
Triggers = _midiManager.ChannelTriggers,
Input = sourceSum2
};
adsr2.Out.Buffer = _scratchBufferChannels4;
var delayOsc = new Oscillator(1, SampleRate)
{
Shape = Oscillator.WaveShape.Triangle,
Frequency = new ConstantSignal <double>(() => _plugin.Model.Delay1PlaybackSpeedFreq),
Amplitude = new ConstantSignal <double>(() => Math.Pow(_plugin.Model.Delay1PlaybackSpeedMod, 3) / 2),
Base = new ConstantSignal <double>(() => 1)
};
delayOsc.Out.Buffer = _scratchBuffer1;
var delay1 = new Delay()
{
DelayLength = new ConstantSignal <int>(() => _plugin.Model.Delay1Length),
PlaybackSpeed = delayOsc.Out,
Gain = new ConstantSignal <double>(() => _plugin.Model.Delay1Gain)
};
delay1.Out.Buffer = _scratchBuffer2;
var combine1 = new Mix("Combine");
combine1.Inputs.Add(delay1.Out);
combine1.Inputs.Add(adsr1.Out.Flat((sum, cur) => sum + cur, 0d));
combine1.Strengths.Add(new ConstantSignal <double>(() => _plugin.Model.Wet1));
combine1.Strengths.Add(new ConstantSignal <double>(() => 1 - _plugin.Model.Wet1));
combine1.Buffer = _scratchBuffer3;
var lowPass1 = new LowPass("lowpass1")
{
Scale = new ConstantSignal <int>(() => _plugin.Model.Filter1),
Input = combine1
};
lowPass1.Buffer = _scratchBuffer4;
delay1.Input = lowPass1;
var combine2 = new Mix("Combine2");
combine2.Inputs.Add(delay1.Out);
combine2.Inputs.Add(adsr2.Out.Flat((sum, cur) => sum + cur, 0d));
combine2.Strengths.Add(new ConstantSignal <double>(() => _plugin.Model.Gain1));
combine2.Strengths.Add(new ConstantSignal <double>(() => _plugin.Model.Gain2));
combine2.Buffer = _scratchBuffer6;
var softClip = new ApplyFunction(sample => sample / (1 + Math.Abs(sample)), "SoftClip")
{
Buffer = _scratchBuffer6,
Input = combine2
};
_out = softClip;
}
/// <summary>
/// Initializes a new instance of the <see cref="LowPassComb"/> class.
/// </summary>
/// <param name="initMaxDelay">The initial max delay.</param>
/// <param name="initDelay">The initial delay.</param>
/// <param name="initFeedBack">The initial feedback.</param>
/// <param name="cutOffFreq">The initial cutoff frequency.</param>
public LowPassComb(float initMaxDelay = 1000, float initDelay = 1, float initFeedBack = 0.9f, float cutOffFreq = 1000) : base(initMaxDelay, initDelay, initFeedBack)
{
this.Frequency = cutOffFreq;
this.lpf = new LowPass(this.Frequency);
}
public static void Start(string[] args)
{
if (args.Length < 2)
{
TestMain.ErrorExit("perf command requires functionality to test.");
}
switch (args[1].ToLower())
{
case "dataunit":
{
if (args.Length < 3)
{
TestMain.ErrorExit("perf dataunit command requires # of elements to test.");
}
int TestLength = int.Parse(args[2]);
Log.Output(Log.Severity.INFO, Log.Source.OTHER, "Testing DataUnit performance, " + TestLength.ToString("N0", CultureInfo.InvariantCulture) + " iterations.");
Log.Output(Log.Severity.INFO, Log.Source.OTHER, "Generating keyset...");
string[] Values = { "Erza", "Homura", "Reika", "Jibril", "Aqua", "Kurisu" };
byte[] IDs = new byte[TestLength];
Random Random = new Random();
for (int i = 0; i < IDs.Length; i++)
{
IDs[i] = (byte)Random.Next(Values.Length);
}
DataUnit DUT = new DataUnit("Testing Structure"); // DataUnit under Test
Log.Output(Log.Severity.INFO, Log.Source.OTHER, "Writing to DataUnit...");
Stopwatch Stopwatch = Stopwatch.StartNew();
for (int i = 0; i < IDs.Length; i++)
{
DUT.Add(i.ToString(), Values[IDs[i]]);
}
Stopwatch.Stop();
Log.Output(Log.Severity.INFO, Log.Source.OTHER, " Took " + Math.Round(Stopwatch.ElapsedTicks * 1000F / Stopwatch.Frequency, 5) + "ms.");
Log.Output(Log.Severity.INFO, Log.Source.OTHER, "Reading from DataUnit...");
Stopwatch = Stopwatch.StartNew();
for (int i = 0; i < IDs.Length; i++)
{
DUT.GetValue <string>(i.ToString());
}
Stopwatch.Stop();
Log.Output(Log.Severity.INFO, Log.Source.OTHER, " Took " + Math.Round(Stopwatch.ElapsedTicks * 1000F / Stopwatch.Frequency, 5) + "ms.");
break;
}
case "filter":
{
if (args.Length < 3)
{
TestMain.ErrorExit("perf filter command requires filter type to test.");
}
if (args[2] != "lowpass" && args[2] != "average")
{
TestMain.ErrorExit("Invalid filter type supplied.");
}
if (args.Length < 4)
{
TestMain.ErrorExit("perf filter command requires # of cycles to test.");
}
IFilter <double> FUT = null;
switch (args[2].ToLower())
{
case "lowpass": { FUT = new LowPass <double>(); break; }
case "average": { FUT = new Average <double>(); break; }
}
int TestLength = int.Parse(args[3]);
Log.Output(Log.Severity.INFO, Log.Source.OTHER, "Testing Filter performance, " + TestLength.ToString("N0", CultureInfo.InvariantCulture) + " iterations.");
Log.Output(Log.Severity.INFO, Log.Source.OTHER, "Generating inputs...");
double[] Inputs = new double[TestLength];
Random Random = new Random();
for (int i = 0; i < Inputs.Length; i++)
{
Inputs[i] = Random.NextDouble();
}
Log.Output(Log.Severity.INFO, Log.Source.OTHER, "Cycling Filter...");
Stopwatch Stopwatch = Stopwatch.StartNew();
for (int i = 0; i < Inputs.Length; i++)
{
FUT.Feed(Inputs[i]);
double Output = FUT.GetOutput();
}
Stopwatch.Stop();
Log.Output(Log.Severity.INFO, Log.Source.OTHER, " Took " + Math.Round(Stopwatch.ElapsedTicks * 1000F / Stopwatch.Frequency, 5) + "ms.");
break;
}
}
}
