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WIP: RevHubTestSuite: Initial implementation of Servo, Analog, Digital, and I2C port tests

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Cyberarm
2023-09-24 12:11:15 -05:00
parent d386287d4b
commit 869a731377
6 changed files with 193 additions and 4 deletions
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21
TeamCode/src/main/java/org/timecrafters/diagnostics/rev_hub_test_suite/RevHubTestSuiteRobot.java
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@@ -116,6 +116,15 @@ public class RevHubTestSuiteRobot extends Robot {
/* ------------------------------------------------ Motor Configuration ------------------------------------------------ */
configureMotors();
/* ------------------------------------------------ Digital Sensor Configuration ------------------------------------------------ */
configureDigitalSensors();
}
protected void clearStaleData() {
// for (LynxModule hub : lynxModules) {
// hub.clearBulkCache();
// }
}
private void configureMotors() {
@@ -130,9 +139,13 @@ public class RevHubTestSuiteRobot extends Robot {
}
}
protected void clearStaleData() {
// for (LynxModule hub : lynxModules) {
// hub.clearBulkCache();
// }
private void configureDigitalSensors() {
for(DigitalChannel sensor : controlHubDigitalSensors) {
sensor.setMode(DigitalChannel.Mode.INPUT);
}
for(DigitalChannel sensor : expansionHubDigitalSensors) {
sensor.setMode(DigitalChannel.Mode.INPUT);
}
}
}

53
TeamCode/src/main/java/org/timecrafters/diagnostics/rev_hub_test_suite/states/RevHubTestSuiteAnalogTestsState.java
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@@ -1,10 +1,19 @@
package org.timecrafters.diagnostics.rev_hub_test_suite.states;
import com.qualcomm.robotcore.hardware.AnalogInput;
import com.qualcomm.robotcore.hardware.Gamepad;
import org.timecrafters.diagnostics.rev_hub_test_suite.RevHubTestSuiteRobot;
import java.util.ArrayList;
public class RevHubTestSuiteAnalogTestsState extends RevTestSuiteTestState {
private final ArrayList<AnalogInput> sensors;
private int sensor_index = 0;
public RevHubTestSuiteAnalogTestsState(RevHubTestSuiteRobot robot) {
super(robot);
sensors = robot.testingControlHub ? robot.controlHubAnalogSensors : robot.expansionHubAnalogSensors;
}
@Override
@@ -14,5 +23,49 @@ public class RevHubTestSuiteAnalogTestsState extends RevTestSuiteTestState {
if (testComplete)
return;
if (sensor_index >= sensors.size()) {
nextStage();
report("-"); // Add newline
}
if (stage.ordinal() > STAGE.ANALOG_SENSOR.ordinal()) {
testComplete = true;
}
}
@Override
public void telemetry() {
engine.telemetry.addLine("ANALOG SENSOR PORT TESTING");
engine.telemetry.addLine();
if (sensor_index < 4) {
AnalogInput sensor = sensors.get(sensor_index);
engine.telemetry.addData("Analog Sensor", "Port: %d, V: %.2f/%.2f (%.2f%%)", sensor_index, sensor.getVoltage(), sensor.getMaxVoltage(), (sensor.getVoltage() / sensor.getMaxVoltage()) * 100.0);
engine.telemetry.addLine();
engine.telemetry.addLine("MANUAL TEST");
engine.telemetry.addLine("PRESS `A` if Analog Sensor " + sensor_index + " value is OKAY.");
engine.telemetry.addLine();
engine.telemetry.addLine("PRESS `Y` if Analog Sensor " + sensor_index + " value is NOT OKAY.");
engine.telemetry.addLine();
}
super.telemetry();
}
@Override
public void buttonUp(Gamepad gamepad, String button) {
if (gamepad == engine.gamepad1) {
if (button.equals("a")) {
report("PASSED: Analog Sensor " + sensor_index + " OKAY");
sensor_index++;
} else if (button.equals("y")) {
report("FAILED: Analog Sensor " + sensor_index + " NOT OKAY");
sensor_index++;
}
}
}
}

59
TeamCode/src/main/java/org/timecrafters/diagnostics/rev_hub_test_suite/states/RevHubTestSuiteDigitalTestsState.java
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@@ -1,14 +1,73 @@
package org.timecrafters.diagnostics.rev_hub_test_suite.states;
import com.qualcomm.robotcore.hardware.AnalogInput;
import com.qualcomm.robotcore.hardware.DigitalChannel;
import com.qualcomm.robotcore.hardware.Gamepad;
import org.timecrafters.diagnostics.rev_hub_test_suite.RevHubTestSuiteRobot;
import java.util.ArrayList;
public class RevHubTestSuiteDigitalTestsState extends RevTestSuiteTestState {
private final ArrayList<DigitalChannel> sensors;
private int sensor_index = 0;
public RevHubTestSuiteDigitalTestsState(RevHubTestSuiteRobot robot) {
super(robot);
sensors = robot.testingControlHub ? robot.controlHubDigitalSensors : robot.expansionHubDigitalSensors;
}
@Override
public void exec() {
super.exec();
if (testComplete)
return;
if (sensor_index >= sensors.size()) {
nextStage();
report("-"); // Add newline
}
if (stage.ordinal() > STAGE.DIGITAL_SENSOR.ordinal()) {
testComplete = true;
}
}
@Override
public void telemetry() {
engine.telemetry.addLine("DIGITAL SENSOR PORT TESTING");
engine.telemetry.addLine();
if (sensor_index < 4) {
DigitalChannel sensor = sensors.get(sensor_index);
engine.telemetry.addData("Digital Sensor", "Port: %d, State: %s", sensor_index, (sensor.getState() ? "ON" : "OFF"));
engine.telemetry.addLine();
engine.telemetry.addLine("MANUAL TEST");
engine.telemetry.addLine("PRESS `A` if Digital Sensor " + sensor_index + " value is OKAY.");
engine.telemetry.addLine();
engine.telemetry.addLine("PRESS `Y` if Digital Sensor " + sensor_index + " value is NOT OKAY.");
engine.telemetry.addLine();
}
super.telemetry();
}
@Override
public void buttonUp(Gamepad gamepad, String button) {
if (gamepad == engine.gamepad1) {
if (button.equals("a")) {
report("PASSED: Digital Sensor " + sensor_index + " OKAY");
sensor_index++;
} else if (button.equals("y")) {
report("FAILED: Digital Sensor " + sensor_index + " NOT OKAY");
sensor_index++;
}
}
}
}

60
TeamCode/src/main/java/org/timecrafters/diagnostics/rev_hub_test_suite/states/RevHubTestSuiteI2CTestsState.java
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@@ -1,16 +1,76 @@
package org.timecrafters.diagnostics.rev_hub_test_suite.states;
import com.qualcomm.hardware.rev.Rev2mDistanceSensor;
import com.qualcomm.robotcore.hardware.DigitalChannel;
import com.qualcomm.robotcore.hardware.Gamepad;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.timecrafters.diagnostics.rev_hub_test_suite.RevHubTestSuiteRobot;
import java.util.ArrayList;
import dev.cyberarm.engine.V2.CyberarmState;
public class RevHubTestSuiteI2CTestsState extends RevTestSuiteTestState {
private final ArrayList<Rev2mDistanceSensor> sensors;
private int sensor_index = 0;
public RevHubTestSuiteI2CTestsState(RevHubTestSuiteRobot robot) {
super(robot);
sensors = robot.testingControlHub ? robot.controlHubI2cSensors : robot.expansionHubI2cSensors;
}
@Override
public void exec() {
super.exec();
if (testComplete)
return;
if (sensor_index >= sensors.size()) {
nextStage();
report("-"); // Add newline
}
if (stage.ordinal() > STAGE.I2C_SENSOR.ordinal()) {
testComplete = true;
}
}
@Override
public void telemetry() {
engine.telemetry.addLine("I2C SENSOR PORT TESTING");
engine.telemetry.addLine();
if (sensor_index < 4) {
Rev2mDistanceSensor sensor = sensors.get(sensor_index);
engine.telemetry.addData("I2C Sensor", "Port: %d, Dist: %.2fMM", sensor_index, sensor.getDistance(DistanceUnit.MM));
engine.telemetry.addLine();
engine.telemetry.addLine("MANUAL TEST");
engine.telemetry.addLine("PRESS `A` if I2C Sensor " + sensor_index + " value is OKAY.");
engine.telemetry.addLine();
engine.telemetry.addLine("PRESS `Y` if I2C Sensor " + sensor_index + " value is NOT OKAY.");
engine.telemetry.addLine();
}
super.telemetry();
}
@Override
public void buttonUp(Gamepad gamepad, String button) {
if (gamepad == engine.gamepad1) {
if (button.equals("a")) {
report("PASSED: Digital Sensor " + sensor_index + " OKAY");
sensor_index++;
} else if (button.equals("y")) {
report("FAILED: Digital Sensor " + sensor_index + " NOT OKAY");
sensor_index++;
}
}
}
}

1
TeamCode/src/main/java/org/timecrafters/diagnostics/rev_hub_test_suite/states/RevHubTestSuiteMotorTestsState.java
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@@ -275,6 +275,7 @@ public class RevHubTestSuiteMotorTestsState extends RevTestSuiteTestState {
public void telemetry() {
engine.telemetry.addLine("MOTOR CONTROLLER TESTING");
engine.telemetry.addLine();
if (motor_index < 4) {
MotorEx motor = motors.get(motor_index);

3
TeamCode/src/main/java/org/timecrafters/diagnostics/rev_hub_test_suite/states/RevHubTestSuiteServoTestsState.java
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@@ -77,6 +77,9 @@ public class RevHubTestSuiteServoTestsState extends RevTestSuiteTestState {
}
public void telemetry() {
engine.telemetry.addLine("SERVO CONTROLLER TESTING");
engine.telemetry.addLine();
if (stage == STAGE.SERVO_SWEEP) {
engine.telemetry.addLine("MANUAL TEST");
engine.telemetry.addLine("PRESS `A` if Servo " + servo_index + " is ROTATING.");