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/*! |
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\file |
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\brief bodyPosition.c ‚̃eƒXƒg |
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|
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\author Satofumi KAMIMURA |
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|
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$Id$ |
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*/ |
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|
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#include "TestBodyPosition.h" |
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#include "structTable.h" |
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#include "tRunCtrl.h" |
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CPPUNIT_TEST_SUITE_REGISTRATION(BodyPositionTest); |
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CPPUNIT_TEST_SUITE_NAMED_REGISTRATION(BodyPositionTest, "BodyPositionTest"); |
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void BodyPositionTest::initializeTest(void) { |
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|
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tRunCtrl_t run; |
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for (int i = 0; i < 2; ++i) { |
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initWheelInfo(i, &run.bodyCtrl.wheels[i]); |
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} |
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initBodyPosition(&run.bodyPosition, run.bodyCtrl.wheels); |
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|
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for (int i = 0; i < 2; ++i) { |
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CPPUNIT_ASSERT_EQUAL(0, static_cast<int>(run.bodyPosition.robot.km[i])); |
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CPPUNIT_ASSERT_EQUAL(0, static_cast<int>(run.bodyPosition.robot.m[i])); |
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CPPUNIT_ASSERT_EQUAL(0, static_cast<int>(run.bodyPosition.robot.mm[i])); |
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} |
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CPPUNIT_ASSERT_EQUAL(0, static_cast<int>(run.bodyPosition.robot.div16)); |
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} |
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void BodyPositionTest::straightTest(void) { |
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|
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tRunCtrl_t run; |
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for (int i = 0; i < 2; ++i) { |
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initWheelInfo(i, &run.bodyCtrl.wheels[i]); |
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} |
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initBodyCtrl(&run.bodyCtrl); |
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|
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// ‘O�i‚·‚é‚©‚̃eƒXƒg |
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initBodyPosition(&run.bodyPosition, run.bodyCtrl.wheels); |
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for (int j = 0; j < 1000; ++j) { |
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for (int i = 0; i < 2; ++i) { |
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setWheelVel(&run.bodyCtrl.wheels[i], 300); |
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updateEncoderInfo(&run.bodyCtrl.wheels[i].motor.encoder); |
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} |
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updatePositionInfo(&run.bodyPosition, run.bodyCtrl.wheels); |
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} |
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|
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mmPosition_t mm_position; |
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convertMmCoordinate(&mm_position, &run.bodyPosition.robot); |
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CPPUNIT_ASSERT_DOUBLES_EQUAL(300, static_cast<int>(mm_position.mm[X]), 0.0); |
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CPPUNIT_ASSERT_DOUBLES_EQUAL(0, static_cast<int>(mm_position.mm[Y]), 0.0); |
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CPPUNIT_ASSERT_EQUAL(0, static_cast<int>(run.bodyPosition.robot.div16)); |
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|
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// Œã�i‚·‚é‚©‚̃eƒXƒg |
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initBodyPosition(&run.bodyPosition, run.bodyCtrl.wheels); |
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for (int j = 0; j < 1000; ++j) { |
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for (int i = 0; i < 2; ++i) { |
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setWheelVel(&run.bodyCtrl.wheels[i], -300); |
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updateEncoderInfo(&run.bodyCtrl.wheels[i].motor.encoder); |
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} |
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updatePositionInfo(&run.bodyPosition, run.bodyCtrl.wheels); |
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} |
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|
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convertMmCoordinate(&mm_position, &run.bodyPosition.robot); |
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CPPUNIT_ASSERT_DOUBLES_EQUAL(-300, static_cast<int>(mm_position.mm[X]), 0.0); |
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CPPUNIT_ASSERT_DOUBLES_EQUAL(0, static_cast<int>(mm_position.mm[Y]), 0.0); |
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CPPUNIT_ASSERT_EQUAL(0, static_cast<int>(run.bodyPosition.robot.div16)); |
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} |
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void BodyPositionTest::rotateTest(void) { |
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tRunCtrl_t run; |
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for (int i = 0; i < 2; ++i) { |
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initWheelInfo(i, &run.bodyCtrl.wheels[i]); |
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} |
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initBodyCtrl(&run.bodyCtrl); |
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|
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// �¶�ù‰ñ‚·‚é‚©‚̃eƒXƒg |
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initBodyPosition(&run.bodyPosition, run.bodyCtrl.wheels); |
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setWheelVel(&run.bodyCtrl.wheels[LEFT], -300); |
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setWheelVel(&run.bodyCtrl.wheels[RIGHT], 300); |
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for (int i = 0; i < 2; ++i) { |
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updateEncoderInfo(&run.bodyCtrl.wheels[i].motor.encoder); |
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} |
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updatePositionInfo(&run.bodyPosition, run.bodyCtrl.wheels); |
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|
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mmPosition_t mm_position; |
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convertMmCoordinate(&mm_position, &run.bodyPosition.robot); |
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CPPUNIT_ASSERT_DOUBLES_EQUAL(0, static_cast<int>(mm_position.mm[X]), 1.0); |
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CPPUNIT_ASSERT_DOUBLES_EQUAL(0, static_cast<int>(mm_position.mm[Y]), 1.0); |
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CPPUNIT_ASSERT(static_cast<int>(run.bodyPosition.robot.div16) > 0); |
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// !!! Žw’èŠp“x‚¾‚¯‚©�H ‚̃eƒXƒg‚É•Ï�X |
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|
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// ‰E�ù‰ñ‚·‚é‚©‚̃eƒXƒg |
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initBodyPosition(&run.bodyPosition, run.bodyCtrl.wheels); |
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setWheelVel(&run.bodyCtrl.wheels[LEFT], 300); |
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setWheelVel(&run.bodyCtrl.wheels[RIGHT], -300); |
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for (int i = 0; i < 2; ++i) { |
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updateEncoderInfo(&run.bodyCtrl.wheels[i].motor.encoder); |
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} |
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updatePositionInfo(&run.bodyPosition, run.bodyCtrl.wheels); |
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convertMmCoordinate(&mm_position, &run.bodyPosition.robot); |
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CPPUNIT_ASSERT_DOUBLES_EQUAL(0, static_cast<int>(mm_position.mm[X]), 1.0); |
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CPPUNIT_ASSERT_DOUBLES_EQUAL(0, static_cast<int>(mm_position.mm[Y]), 1.0); |
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CPPUNIT_ASSERT(static_cast<int>(run.bodyPosition.robot.div16) > 32768); |
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// !!! Žw’èŠp“x‚¾‚¯‚©�H ‚̃eƒXƒg‚É•Ï�X |
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} |
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