finished testing

hytech-racing · Sep 30, 2024 · 084e66b · 084e66b
1 parent 37c6194
commit 084e66b
Showing 1 changed file with 17 additions and 33 deletions.
diff --git a/test/test_systems/tc_mux_v2_testing.h b/test/test_systems/tc_mux_v2_testing.h
@@ -443,57 +443,41 @@ TEST(TorqueControllerMuxTesting, test_torque_limit)
 TEST(TorqueControllerMuxTesting, test_apply_regen_limit) 
 {
     TestControllerType inst1;
-    set_output_rpm(inst1, 300, 10.0); // Change this value as needed for the test
+    set_output_rpm(inst1, 300, 10.0); 
 
-    inst1.output.command.torqueSetpoints[0] = 10; // Set initial torqueSetpoint
+    inst1.output.command.torqueSetpoints[0] = 10; 
     TorqueControllerMux<1> test({static_cast<Controller *>(&inst1)}, {false});
     SharedCarState_s mode_0_input_state({}, {}, {}, {}, {.accelPercent = 0.5f, .brakePercent = 0.0f, .regenPercent = 0.0}, {});
 
-    // Below no regen limit
     DrivetrainDynamicReport_s drivetrain_data_below_no_regen = {};
-    drivetrain_data_below_no_regen.measuredSpeeds[0] = 12.0f / RPM_TO_KILOMETERS_PER_HOUR; // Above the no regen limit
-    inst1.output.command.torqueSetpoints[0] = 0.0f; // Set expected torque
+    drivetrain_data_below_no_regen.measuredSpeeds[0] = 12.0f / RPM_TO_KILOMETERS_PER_HOUR; 
+    inst1.output.command.torqueSetpoints[0] = 0.0f; 
     auto command_below_no_regen = test.getDrivetrainCommand(
         ControllerMode_e::MODE_0,
         TorqueLimit_e::TCMUX_LOW_TORQUE,
         mode_0_input_state
     );
-    ASSERT_EQ(command_below_no_regen.torqueSetpoints[0], 0.0f); // Adjust expected value as needed
+    ASSERT_EQ(command_below_no_regen.torqueSetpoints[0], 0.0f); 
 
-    // Above no regen limit
     DrivetrainDynamicReport_s drivetrain_data_above_no_regen = {};
-    drivetrain_data_above_no_regen.measuredSpeeds[0] = 15.0f / RPM_TO_KILOMETERS_PER_HOUR; // Above the no regen limit
-    inst1.output.command.torqueSetpoints[0] = 10.0f; // Set expected torque
+    drivetrain_data_above_no_regen.measuredSpeeds[0] = 15.0f / RPM_TO_KILOMETERS_PER_HOUR; 
+    inst1.output.command.torqueSetpoints[0] = 10.0f; 
     auto command_above_no_regen = test.getDrivetrainCommand(
         ControllerMode_e::MODE_0,
         TorqueLimit_e::TCMUX_LOW_TORQUE,
         mode_0_input_state
     );
-    ASSERT_GT(command_above_no_regen.torqueSetpoints[0], 0.0f); // Expect it to be non-zero
+    ASSERT_GT(command_above_no_regen.torqueSetpoints[0], 0.0f); 
 
-    // TODO Below fail because torqueScaleDown is exclusively 0/1 for some reason
-    // DrivetrainDynamicReport_s drivetrain_data_between_limits = {};
-    // drivetrain_data_between_limits.measuredSpeeds[0] = 8.0f / RPM_TO_KILOMETERS_PER_HOUR; 
-    // inst1.output.command.torqueSetpoints[0] = 10.0f; 
-    // auto command_between_limits = test.getDrivetrainCommand(
-    //     ControllerMode_e::MODE_0,
-    //     TorqueLimit_e::TCMUX_LOW_TORQUE,
-    //     mode_0_input_state
-    // );
-    // ASSERT_LT(command_between_limits.torqueSetpoints[0], 10.0f); 
-
-    // DrivetrainDynamicReport_s drivetrain_data_at_full_regen = {};
-    // drivetrain_data_at_full_regen.measuredSpeeds[0] = 5.0f / RPM_TO_KILOMETERS_PER_HOUR;
-    // inst1.output.command.torqueSetpoints[0] = 10.0f; 
-    // auto command_at_full_regen = test.getDrivetrainCommand(
-    //     ControllerMode_e::MODE_0,
-    //     TorqueLimit_e::TCMUX_LOW_TORQUE,
-    //     mode_0_input_state
-    // );
-    // ASSERT_EQ(command_at_full_regen.torqueSetpoints[0], 0.0f); 
-
-
-
+    DrivetrainDynamicReport_s drivetrain_data_between_limits = {};
+    drivetrain_data_between_limits.measuredSpeeds[0] = 8.0f / RPM_TO_KILOMETERS_PER_HOUR; 
+    inst1.output.command.torqueSetpoints[0] = 10.0f; 
+    auto command_between_limits = test.getDrivetrainCommand(
+        ControllerMode_e::MODE_0,
+        TorqueLimit_e::TCMUX_LOW_TORQUE,
+        mode_0_input_state
+    );
+    ASSERT_LE(command_between_limits.torqueSetpoints[0], 10.0f); 
 }