Merge pull request #163 from strykeforce/jhh/health-check

Update tests and reports

Author: jhh

src/main/kotlin/frc/team2767/deepspace/command/HealthCheckCommand.kt

@@ -46,8 +46,6 @@ class HealthCheckCommand : Command() {
                 }
 
                 timedTest {
-                    warmUp = 0.5
-                    duration = 2.0
                     percentOutput = 0.75
                     currentRange = 0.6..1.2
                     speedRange = 1000..1100
@@ -91,9 +89,13 @@ class HealthCheckCommand : Command() {
 
                 positionTest {
                     percentOutput = 0.2
-                    encoderTarget = 10_000
+
+                    encoderChangeTarget = 10_000
+                    encoderGoodEnough = 500
                     encoderTimeOutCount = 5000
-                    zeroGoodEnough = 1500
+
+                    currentRange = 0.0..0.5
+                    speedRange = 500..600
                 }
 
                 positionTalon {
@@ -109,9 +111,13 @@ class HealthCheckCommand : Command() {
 
                 positionTest {
                     percentOutput = 0.2
-                    zeroGoodEnough = 200
-                    encoderTarget = 2500
+
+                    encoderChangeTarget = 2500
+                    encoderGoodEnough = 200
                     encoderTimeOutCount = 500
+
+                    currentRange = 0.0..0.5
+                    speedRange = 500..600
                 }
             }
 
@@ -121,16 +127,24 @@ class HealthCheckCommand : Command() {
 
                 positionTest {
                     percentOutput = 0.2
-                    zeroGoodEnough = 50
-                    encoderTarget = 3000
+
+                    encoderChangeTarget = 3000
+                    encoderGoodEnough = 50
                     encoderTimeOutCount = 500
+
+                    currentRange = 0.0..0.5
+                    speedRange = 500..600
                 }
 
                 positionTest {
                     percentOutput = -0.2
-                    zeroGoodEnough = 50
-                    encoderTarget = 3000
+
+                    encoderChangeTarget = 3000
+                    encoderGoodEnough = 50
                     encoderTimeOutCount = 250
+
+                    currentRange = 0.0..0.5
+                    speedRange = 500..600
                 }
             }
 

src/main/kotlin/frc/team2767/deepspace/health/TalonPositionTest.kt

@@ -1,8 +1,8 @@
 package frc.team2767.deepspace.health
 
-import com.ctre.phoenix.motorcontrol.ControlMode
 import com.ctre.phoenix.motorcontrol.ControlMode.PercentOutput
 import com.ctre.phoenix.motorcontrol.can.TalonSRX
+import edu.wpi.first.wpilibj.Timer
 import frc.team2767.deepspace.health.TalonPositionTest.State.*
 import kotlinx.html.TagConsumer
 import kotlinx.html.td
@@ -17,16 +17,19 @@ private val logger = KotlinLogging.logger {}
 class TalonPositionTest(private val group: TalonGroup) : Test, Reportable {
     override var name = "position test"
     var percentOutput = 0.0
+    var currentRange = 0.0..0.0
+    var speedRange = 0..0
+    var warmUp = 0.25
     var peakVoltage = 12.0
-    var zeroGoodEnough = 5
-    var zeroTimeOutCount = 50
-    var encoderTarget = 0
+
+    var encoderChangeTarget = 0
+    var encoderGoodEnough = 5
     var encoderTimeOutCount = 0
-    var controlMode = ControlMode.MotionMagic
 
     private var state = STARTING
+    private var startTime = 0.0
     private var iteration = 0
-    private var passed = false
+    private var startingPosition = 0
 
     private lateinit var talon: TalonSRX
     private var currents = mutableListOf<Double>()
@@ -44,32 +47,24 @@ class TalonPositionTest(private val group: TalonGroup) : Test, Reportable {
                 }
                 logger.info { "$name starting" }
                 talon = group.talons.first()
-                talon.set(controlMode, 0.0)
-                state = ZEROING
+                startingPosition = talon.selectedSensorPosition
+                talon.set(PercentOutput, percentOutput)
+                startTime = Timer.getFPGATimestamp()
+                state = RUNNING
             }
 
-            ZEROING -> {
-                if (talon.selectedSensorPosition.absoluteValue < zeroGoodEnough) {
-                    logger.info { "successfully zeroed encoder" }
-                    talon.set(PercentOutput, percentOutput)
-                    iteration = 0
-                    state = RUNNING
-                    return
-                }
-                if (iteration++ > zeroTimeOutCount) {
-                    logger.warn { "timed out waiting for encoder zero, encoder = ${talon.selectedSensorPosition}" }
-                    state = STOPPED
-                }
+            WARMING -> if (Timer.getFPGATimestamp() - startTime >= warmUp) {
+                state = RUNNING
             }
 
             RUNNING -> {
                 currents.add(talon.outputCurrent)
                 speeds.add(talon.selectedSensorVelocity)
 
-                if (talon.selectedSensorPosition.absoluteValue > encoderTarget) {
-                    logger.info { "reached encoder target $encoderTarget" }
+                if ((talon.selectedSensorPosition - startingPosition).absoluteValue > encoderChangeTarget) {
+                    logger.info { "reached encoder target $encoderChangeTarget" }
                     talon.set(PercentOutput, 0.0)
-                    state = PASSED
+                    state = STOPPED
                     return
                 }
 
@@ -80,17 +75,6 @@ class TalonPositionTest(private val group: TalonGroup) : Test, Reportable {
                 }
             }
 
-            PASSED -> {
-                passed = true
-                talon.set(controlMode, 0.0)
-                state = RESETTING
-            }
-
-            RESETTING -> {
-                if (talon.selectedSensorPosition.absoluteValue < zeroGoodEnough)
-                    logger.info { "repositioned to zero, finishing test" }
-                    state = STOPPED
-            }
 
             STOPPED -> logger.info { "position test stopped" }
 
@@ -112,22 +96,23 @@ class TalonPositionTest(private val group: TalonGroup) : Test, Reportable {
     }
 
     override fun reportRows(tagConsumer: TagConsumer<Appendable>) {
+        val current = currents.average()
+        val speed = speeds.average().toInt()
+
         tagConsumer.tr {
             td { +"${talon.deviceID}" }
             td { +"%.1f".format(percentOutput * peakVoltage) }
-            td { +"$encoderTarget" }
-            td { +"%.2f".format(currents.average()) }
-            td { +"%.2f".format(speeds.average()) }
+            td { +"$encoderChangeTarget" }
+            td(classes = currentRange.statusOf(current)) { +"%.2f".format(current) }
+            td(classes = speedRange.statusOf(speed)) { +"$speed" }
         }
     }
 
     @Suppress("unused")
     private enum class State {
         STARTING,
-        ZEROING,
+        WARMING,
         RUNNING,
-        PASSED,
-        RESETTING,
         STOPPED
     }
 }

src/main/kotlin/frc/team2767/deepspace/health/TalonTimedTest.kt

@@ -86,12 +86,14 @@ class TalonTimedTest(private val group: TalonGroup) : Test, Reportable {
 
     override fun reportRows(tagConsumer: TagConsumer<Appendable>) {
         group.talons.forEach {
+            val current = talonCurrents[it]?.average() ?: 0.0
+            val speed = talonSpeeds[it]?.average()?.toInt() ?: 0
             tagConsumer.tr {
                 td { +"${it.deviceID}" }
                 td { +"%.2f".format(percentOutput * 12.0) }
                 td { +"%.2f".format(duration) }
-                td { +"%.2f".format(talonCurrents[it]?.average()) }
-                td { +"%.2f".format(talonSpeeds[it]?.average()) }
+                td(classes = currentRange.statusOf(current)) { +"%.2f".format(current) }
+                td(classes = speedRange.statusOf(speed)) { +"$speed" }
             }
         }
     }

src/main/kotlin/frc/team2767/deepspace/health/Test.kt

@@ -2,6 +2,8 @@ package frc.team2767.deepspace.health
 
 import kotlinx.html.TagConsumer
 
+fun <T : Comparable<T>> ClosedRange<T>.statusOf(value: T): String = if (this.contains(value)) "pass" else "fail"
+
 interface Test {
     var name: String
     fun execute()

src/main/resources/healthcheck.css

@@ -17,4 +17,12 @@ th {
 
 td {
 text-align: right;
+}
+
+td.pass {
+    background-color: white
+}
+
+td.fail {
+    background-color: #ffb6c1
 }