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[wpimath] Move SlewRateLimiter from wpilib to wpimath (#3399)

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Timer was replaced with wpi::Now() to avoid a dependency on other wpilib
classes.
This commit is contained in:
Tyler Veness
2021-05-31 10:35:54 -07:00
committed by GitHub
parent 93523d572e
commit 01dc0249de
16 changed files with 93 additions and 32 deletions
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33
wpimath/src/test/native/cpp/SlewRateLimiterTest.cpp Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <wpi/timestamp.h>
#include "frc/SlewRateLimiter.h"
#include "gtest/gtest.h"
#include "units/length.h"
#include "units/time.h"
#include "units/velocity.h"
static units::second_t now = 0_s;
TEST(SlewRateLimiterTest, SlewRateLimitTest) {
WPI_SetNowImpl([] { return units::microsecond_t{now}.to<uint64_t>(); });
frc::SlewRateLimiter<units::meters> limiter(1_mps);
now += 1_s;
EXPECT_LT(limiter.Calculate(2_m), 2_m);
}
TEST(SlewRateLimiterTest, SlewRateNoLimitTest) {
WPI_SetNowImpl([] { return units::microsecond_t{now}.to<uint64_t>(); });
frc::SlewRateLimiter<units::meters> limiter(1_mps);
now += 1_s;
EXPECT_EQ(limiter.Calculate(0.5_m), 0.5_m);
}