Skip to content

Commit

Permalink
Uncommented-out cruise control tests; all tests now passed. Issue may…
Browse files Browse the repository at this point in the history 
… have been the FSM logic which was fixed in the gear/display issue ticket.
  • Loading branch information
@KnockbackNemo
KnockbackNemo committed Apr 8, 2024
1 parent 8a5155d commit 0ff5c8a
Showing 1 changed file with 178 additions and 183 deletions.
361 changes: 178 additions & 183 deletions Tests/Test_App_SendTritium.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -330,12 +330,12 @@ void Task1(void *arg)
while(get_state().name != FORWARD_DRIVE){}

// Record Velocity to Powered Cruise
// printf("\n\rTesting: Record Velocity -> Powered Cruise\n\r");
// goToRecordVelocity();
// set_cruiseEnable(true);
// set_cruiseSet(false);
// stateBuffer();
// while(get_state().name != POWERED_CRUISE){}
printf("\n\rTesting: Record Velocity -> Powered Cruise\n\r");
goToRecordVelocity();
set_cruiseEnable(true);
set_cruiseSet(false);
stateBuffer();
while(get_state().name != POWERED_CRUISE){}

/**
* ======= Powered Cruise ==========
Expand All @@ -344,66 +344,66 @@ void Task1(void *arg)
*/
printf("\n\r============ Testing Powered Cruise State ============\n\r");

// // Powered Cruise to Brake State
// printf("\n\rTesting: Powered Cruise -> Brake\n\r");
// goToPoweredCruise();
// set_brakePedalPercent(BRAKE_TEST_VAL);
// stateBuffer();
// while(get_state().name != BRAKE_STATE){}

// // Powered Cruise to Neutral Drive
// printf("\n\rTesting: Powered Cruise -> Neutral Drive\n\r");
// goToPoweredCruise();
// set_gear(NEUTRAL_GEAR);
// stateBuffer();
// while(get_state().name != NEUTRAL_DRIVE){}
// Powered Cruise to Brake State
printf("\n\rTesting: Powered Cruise -> Brake\n\r");
goToPoweredCruise();
set_brakePedalPercent(BRAKE_TEST_VAL);
stateBuffer();
while(get_state().name != BRAKE_STATE){}

// Powered Cruise to Neutral Drive
printf("\n\rTesting: Powered Cruise -> Neutral Drive\n\r");
goToPoweredCruise();
set_gear(NEUTRAL_GEAR);
stateBuffer();
while(get_state().name != NEUTRAL_DRIVE){}

// Powered Cruise to Reverse Drive
printf("\n\rTesting: Powered Cruise -> Reverse Drive\n\r");
goToPoweredCruise();
set_gear(REVERSE_GEAR);
set_velocityObserved(mpsToRpm(35));
stateBuffer();
set_velocityObserved(mpsToRpm(5));
stateBuffer();
while(get_state().name != REVERSE_DRIVE){}

// Powered Cruise to One Pedal Drive
printf("\n\rTesting: Powered Cruise -> One Pedal Drive\n\r");
goToPoweredCruise();
set_onePedalEnable(true);
stateBuffer();
while(get_state().name != ONEPEDAL){}

// Powered Cruise to Forward Drive
printf("\n\rTesting: Powered Cruise -> Forward Drive\n\r");
goToPoweredCruise();
set_cruiseEnable(false);
stateBuffer();
while(get_state().name != FORWARD_DRIVE){}

// // Powered Cruise to Reverse Drive
// printf("\n\rTesting: Powered Cruise -> Reverse Drive\n\r");
// goToPoweredCruise();
// set_gear(REVERSE_GEAR);
// set_velocityObserved(mpsToRpm(35));
// stateBuffer();
// set_velocityObserved(mpsToRpm(5));
// stateBuffer();
// while(get_state().name != REVERSE_DRIVE){}

// // Powered Cruise to One Pedal Drive
// printf("\n\rTesting: Powered Cruise -> One Pedal Drive\n\r");
// goToPoweredCruise();
// set_onePedalEnable(true);
// stateBuffer();
// while(get_state().name != ONEPEDAL){}

// // Powered Cruise to Forward Drive
// printf("\n\rTesting: Powered Cruise -> Forward Drive\n\r");
// goToPoweredCruise();
// set_cruiseEnable(false);
// stateBuffer();
// while(get_state().name != FORWARD_DRIVE){}

// // Powered Cruise to Record Velocity
// printf("\n\rTesting: Powered Cruise -> Record Velocity\n\r");
// goToPoweredCruise();
// set_cruiseSet(true);
// stateBuffer();
// while(get_state().name != RECORD_VELOCITY){}

// // Powered Cruise to Accelerate Cruise
// printf("\n\rTesting: Powered Cruise -> Accelerate Cruise\n\r");
// goToPoweredCruise();
// set_accelPedalPercent(10);
// stateBuffer();
// while(get_state().name != ACCELERATE_CRUISE){}

// // Powered Cruise to Coasting Cruise
// printf("\n\rTesting: Powered Cruise -> Coasting Cruise\n\r");
// goToPoweredCruise();
// set_accelPedalPercent(0);
// set_velocityObserved(mpsToRpm(40));
// set_cruiseVelSetpoint(mpsToRpm(30));
// stateBuffer();
// while(get_state().name != COASTING_CRUISE){}
// Powered Cruise to Record Velocity
printf("\n\rTesting: Powered Cruise -> Record Velocity\n\r");
goToPoweredCruise();
set_cruiseSet(true);
stateBuffer();
while(get_state().name != RECORD_VELOCITY){}

// Powered Cruise to Accelerate Cruise
printf("\n\rTesting: Powered Cruise -> Accelerate Cruise\n\r");
goToPoweredCruise();
set_accelPedalPercent(10);
stateBuffer();
while(get_state().name != ACCELERATE_CRUISE){}

// Powered Cruise to Coasting Cruise
printf("\n\rTesting: Powered Cruise -> Coasting Cruise\n\r");
goToPoweredCruise();
set_accelPedalPercent(0);
set_velocityObserved(mpsToRpm(40));
set_cruiseVelSetpoint(mpsToRpm(30));
stateBuffer();
while(get_state().name != COASTING_CRUISE){}

/**
* ======= Coasting Cruise ==========
Expand All @@ -413,67 +413,62 @@ void Task1(void *arg)
*/
printf("\n\r============ Testing Coasting Cruise State ============\n\r");

// // Coasting Cruise to Brake State
// printf("\n\rTesting: Coasting Cruise -> Brake\n\r");
// goToCoastingCruise();
// set_brakePedalPercent(BRAKE_TEST_VAL);
// stateBuffer();
// while(get_state().name != BRAKE_STATE){}

// // Coasting Cruise to Neutral Drive
// printf("\n\rTesting: Coasting Cruise -> Neutral Drive\n\r");
// goToCoastingCruise();
// set_gear(NEUTRAL_GEAR);
// stateBuffer();
// while(get_state().name != NEUTRAL_DRIVE){}
// Coasting Cruise to Brake State
printf("\n\rTesting: Coasting Cruise -> Brake\n\r");
goToCoastingCruise();
set_brakePedalPercent(BRAKE_TEST_VAL);
stateBuffer();
while(get_state().name != BRAKE_STATE){}

// Coasting Cruise to Neutral Drive
printf("\n\rTesting: Coasting Cruise -> Neutral Drive\n\r");
goToCoastingCruise();
set_gear(NEUTRAL_GEAR);
stateBuffer();
while(get_state().name != NEUTRAL_DRIVE){}

// Coasting Cruise to Reverse Drive
printf("\n\rTesting: Coasting Cruise -> Reverse Drive\n\r");
goToCoastingCruise();
set_gear(REVERSE_GEAR);
set_velocityObserved(mpsToRpm(35));
stateBuffer();
set_velocityObserved(mpsToRpm(5));
stateBuffer();
while(get_state().name != REVERSE_DRIVE){}

// // Coasting Cruise to Reverse Drive
// printf("\n\rTesting: Coasting Cruise -> Reverse Drive\n\r");
// goToCoastingCruise();
// set_gear(REVERSE_GEAR);
// set_velocityObserved(mpsToRpm(35));
// stateBuffer();
// set_velocityObserved(mpsToRpm(5));
// stateBuffer();
// while(get_state().name != REVERSE_DRIVE){}

// // Coasting Cruise to One Pedal Drive
// printf("\n\rTesting: Coasting Cruise -> One Pedal Drive\n\r");
// goToCoastingCruise();
// set_onePedalEnable(true);
// stateBuffer();
// while(get_state().name != ONEPEDAL){}

// // Coasting Cruise to Forward Drive
// printf("\n\rTesting: Coasting Cruise -> Forward Drive\n\r");
// goToCoastingCruise();
// set_cruiseEnable(false);
// stateBuffer();
// while(get_state().name != FORWARD_DRIVE){}

// // Coasting Cruise to Record Velocity
// printf("\n\rTesting: Coasting Cruise -> Record Velocity\n\r");
// goToCoastingCruise();
// set_cruiseSet(true);
// set_velocityObserved(mpsToRpm(25.0));
// stateBuffer();
// while(get_state().name != RECORD_VELOCITY){}

// // Coasting Cruise to Accelerate Cruise
// printf("\n\rTesting: Coasting Cruise -> Accelerate Cruise\n\r");
// goToCoastingCruise();
// set_accelPedalPercent(10);
// stateBuffer();
// while(get_state().name != ACCELERATE_CRUISE){}

// // Coasting Cruise to Powered Cruise
// printf("\n\rTesting: Coasting Cruise -> Powered Cruise\n\r");
// goToCoastingCruise();
// set_accelPedalPercent(0);
// set_velocityObserved(mpsToRpm(29));
// set_cruiseVelSetpoint(mpsToRpm(30));
// stateBuffer();
// while(get_state().name != POWERED_CRUISE){}
// Coasting Cruise to One Pedal Drive
printf("\n\rTesting: Coasting Cruise -> One Pedal Drive\n\r");
goToCoastingCruise();
set_onePedalEnable(true);
stateBuffer();
while(get_state().name != ONEPEDAL){}

// Coasting Cruise to Forward Drive
printf("\n\rTesting: Coasting Cruise -> Forward Drive\n\r");
goToCoastingCruise();
set_cruiseEnable(false);
stateBuffer();
while(get_state().name != FORWARD_DRIVE){}

// Coasting Cruise to Record Velocity
printf("\n\rTesting: Coasting Cruise -> Record Velocity\n\r");
goToCoastingCruise();
set_cruiseSet(true);
set_velocityObserved(mpsToRpm(25.0));
stateBuffer();
while(get_state().name != RECORD_VELOCITY){}



// Coasting Cruise to Powered Cruise
printf("\n\rTesting: Coasting Cruise -> Powered Cruise\n\r");
goToCoastingCruise();
set_accelPedalPercent(0);
set_velocityObserved(mpsToRpm(29));
set_cruiseVelSetpoint(mpsToRpm(30));
stateBuffer();
while(get_state().name != POWERED_CRUISE){}

/**
* ======= Accelerate Cruise State ==========
Expand All @@ -482,58 +477,58 @@ void Task1(void *arg)
*/
printf("\n\r============ Testing Accelerate Cruise State ============\n\r");

// // Accelerate Cruise to Brake State
// printf("\n\rTesting: Accelerate Cruise -> Brake\n\r");
// goToAccelerateCruise();
// set_brakePedalPercent(BRAKE_TEST_VAL);
// stateBuffer();
// while(get_state().name != BRAKE_STATE){}

// // Accelerate Cruise to Neutral Drive
// printf("\n\rTesting: Accelerate Cruise -> Neutral Drive\n\r");
// goToAccelerateCruise();
// set_gear(NEUTRAL_GEAR);
// stateBuffer();
// while(get_state().name != NEUTRAL_DRIVE){}
// Accelerate Cruise to Brake State
printf("\n\rTesting: Accelerate Cruise -> Brake\n\r");
goToAccelerateCruise();
set_brakePedalPercent(BRAKE_TEST_VAL);
stateBuffer();
while(get_state().name != BRAKE_STATE){}

// Accelerate Cruise to Neutral Drive
printf("\n\rTesting: Accelerate Cruise -> Neutral Drive\n\r");
goToAccelerateCruise();
set_gear(NEUTRAL_GEAR);
stateBuffer();
while(get_state().name != NEUTRAL_DRIVE){}

// // Accelerate Cruise to Reverse Drive
// printf("\n\rTesting: Accelerate Cruise -> Reverse Drive\n\r");
// goToAccelerateCruise();
// set_gear(REVERSE_GEAR);
// set_velocityObserved(mpsToRpm(35));
// stateBuffer();
// set_velocityObserved(mpsToRpm(5));
// stateBuffer();
// while(get_state().name != REVERSE_DRIVE){}

// // Accelerate Cruise to One Pedal Drive
// printf("\n\rTesting: Accelerate Cruise -> One Pedal Drive\n\r");
// goToAccelerateCruise();
// set_onePedalEnable(true);
// stateBuffer();
// while(get_state().name != ONEPEDAL){}

// // Accelerate Cruise to Forward Drive
// printf("\n\rTesting: Accelerate Cruise -> Forward Drive\n\r");
// goToAccelerateCruise();
// set_cruiseEnable(false);
// stateBuffer();
// while(get_state().name != FORWARD_DRIVE){}

// // Accelerate Cruise to Record Velocity
// printf("\n\rTesting: Accelerate Cruise -> Record Velocity\n\r");
// goToAccelerateCruise();
// set_cruiseSet(true);
// set_velocityObserved(mpsToRpm(25.0));
// stateBuffer();
// while(get_state().name != RECORD_VELOCITY){}

// // Accelerate Cruise to Coasting Cruise
// printf("\n\rTesting: Accelerate Cruise -> Coasting Cruise\n\r");
// goToAccelerateCruise();
// set_accelPedalPercent(0);
// stateBuffer();
// while(get_state().name != COASTING_CRUISE){}
// Accelerate Cruise to Reverse Drive
printf("\n\rTesting: Accelerate Cruise -> Reverse Drive\n\r");
goToAccelerateCruise();
set_gear(REVERSE_GEAR);
set_velocityObserved(mpsToRpm(35));
stateBuffer();
set_velocityObserved(mpsToRpm(5));
stateBuffer();
while(get_state().name != REVERSE_DRIVE){}

// Accelerate Cruise to One Pedal Drive
printf("\n\rTesting: Accelerate Cruise -> One Pedal Drive\n\r");
goToAccelerateCruise();
set_onePedalEnable(true);
stateBuffer();
while(get_state().name != ONEPEDAL){}

// Accelerate Cruise to Forward Drive
printf("\n\rTesting: Accelerate Cruise -> Forward Drive\n\r");
goToAccelerateCruise();
set_cruiseEnable(false);
stateBuffer();
while(get_state().name != FORWARD_DRIVE){}

// Accelerate Cruise to Record Velocity
printf("\n\rTesting: Accelerate Cruise -> Record Velocity\n\r");
goToAccelerateCruise();
set_cruiseSet(true);
set_velocityObserved(mpsToRpm(25.0));
stateBuffer();
while(get_state().name != RECORD_VELOCITY){}

// Accelerate Cruise to Coasting Cruise
printf("\n\rTesting: Accelerate Cruise -> Coasting Cruise\n\r");
goToAccelerateCruise();
set_accelPedalPercent(0);
stateBuffer();
while(get_state().name != COASTING_CRUISE){}

/**
* ======= One Pedal Drive ==========
Expand Down Expand Up @@ -568,13 +563,13 @@ void Task1(void *arg)
while(get_state().name != REVERSE_DRIVE){}

// One Pedal Drive to Record Velocity
// printf("\n\rTesting: One Pedal Drive -> Record Velocity\n\r");
// goToOnePedalDrive();
// set_cruiseSet(true); // DOES WORK BUT NEEDS TO ENFORCE 1 TRANSITION
// set_cruiseEnable(true);
// set_velocityObserved(mpsToRpm(25.0));
// stateBuffer();
// while(get_state().name != RECORD_VELOCITY){}
printf("\n\rTesting: One Pedal Drive -> Record Velocity\n\r");
goToOnePedalDrive();
set_cruiseSet(true); // DOES WORK BUT NEEDS TO ENFORCE 1 TRANSITION
set_cruiseEnable(true);
set_velocityObserved(mpsToRpm(25.0));
stateBuffer();
while(get_state().name != RECORD_VELOCITY){}

/**
* ======= Brake State ==========
Expand Down

0 comments on commit 0ff5c8a

Please sign in to comment.