add automated tests #35
Conversation
|
|
||
| public double getRightCurrent() { | ||
| return robot.getPDP().getCurrent(config.rightMotor.getPowerChannel()); | ||
| } |
There was a problem hiding this comment.
There are 2 motors, plugged into 2 PDP channels each. There is a method on SpeedControllerConfig called getTotalCurrent which will get the sum of all of the power channels, which is what we really need
| if(lowerLimit) { | ||
| setTargetHeight(config.heightBottomLimit); | ||
| } else { | ||
| setTargetHeight(config.heightTopLimit); |
There was a problem hiding this comment.
These config values are not the heights of the bottom and top limit sensors. They are the software enforced limits on the range of height. So there needs to be separate values for this
There was a problem hiding this comment.
Also, I don't think this should use setTargetHeight. setTargetHeight moves at nearly the max speed of the lift. Which is wayyyyyyyyyyy faster than you want to run when you are verifying the the lift works.
There was a problem hiding this comment.
So we probably need to just run the lift at a constant power until we hit the limit.
|
|
||
| @Override | ||
| protected boolean step() { | ||
| return (lowerLimit ? isAtBottomLimit() : isAtTopLimit()); |
There was a problem hiding this comment.
This test has no failure. There should a timeout, after which the test fails. And if it succeeds, it should output a message
| } | ||
|
|
||
| public double getRightCurrent() { | ||
| return robot.getPDP().getCurrent(config.rightMotor.getPowerChannel()); |
There was a problem hiding this comment.
These motor controllers are talon srxs. So if you cast the motor controller to WPI_TalonSRX, you can just call getCurrent(). Which will be more accurate than the PDP anyways
abbbbbby
force-pushed
the
add-automatedTests
branch
from
2fd13b4 to
eb99072
Compare
abbbbbby
force-pushed
the
add-automatedTests
branch
2 times, most recently
from
ecb3072 to
29d9b2f
Compare
a-bainbridge
force-pushed
the
add-automatedTests
branch
from
29d9b2f to
a4f9d69
Compare
abbbbbby
force-pushed
the
add-automatedTests
branch
from
a4f9d69 to
16e242e
Compare
sentientspud
force-pushed
the
add-automatedTests
branch
from
16e242e to
fe25a47
Compare
No description provided.