Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpilib] Move motor controllers to motorcontrol package (#3302)

Browse Source 
Also deprecate SpeedController in favor of motorcontrol.MotorController and
SpeedControllerGroup in favor of motorcontrol.MotorControllerGroup.

The MotorController interface is derived from the SpeedController interface
so that code such as SpeedController x = new VictorSP(1) continues to
compile (just with a warning).

SpeedControllerGroup and MotorControllerGroup are independent classes;
both implement the MotorController interface.
This commit is contained in:
Peter Johnson
2021-04-17 11:27:16 -07:00
committed by GitHub
parent b7b178f49c
commit 0abf6c9045
194 changed files with 1096 additions and 696 deletions
Download Patch File Download Diff File Expand all files Collapse all files

50
wpilibcIntegrationTests/src/main/native/cpp/MotorInvertingTest.cpp
View File

@@ -4,10 +4,10 @@
#include "TestBench.h"
#include "frc/Encoder.h"
#include "frc/Jaguar.h"
#include "frc/Talon.h"
#include "frc/Timer.h"
#include "frc/Victor.h"
#include "frc/motorcontrol/Jaguar.h"
#include "frc/motorcontrol/Talon.h"
#include "frc/motorcontrol/Victor.h"
#include "gtest/gtest.h"
using namespace frc;
@@ -33,25 +33,25 @@ std::ostream& operator<<(std::ostream& os, MotorInvertingTestType const& type) {
class MotorInvertingTest
: public testing::TestWithParam<MotorInvertingTestType> {
protected:
SpeedController* m_speedController;
MotorController* m_motorController;
Encoder* m_encoder;
void SetUp() override {
switch (GetParam()) {
case TEST_VICTOR:
m_speedController = new Victor(TestBench::kVictorChannel);
m_motorController = new Victor(TestBench::kVictorChannel);
m_encoder = new Encoder(TestBench::kVictorEncoderChannelA,
TestBench::kVictorEncoderChannelB);
break;
case TEST_JAGUAR:
m_speedController = new Jaguar(TestBench::kJaguarChannel);
m_motorController = new Jaguar(TestBench::kJaguarChannel);
m_encoder = new Encoder(TestBench::kJaguarEncoderChannelA,
TestBench::kJaguarEncoderChannelB);
break;
case TEST_TALON:
m_speedController = new Talon(TestBench::kTalonChannel);
m_motorController = new Talon(TestBench::kTalonChannel);
m_encoder = new Encoder(TestBench::kTalonEncoderChannelA,
TestBench::kTalonEncoderChannelB);
break;
@@ -59,13 +59,13 @@ class MotorInvertingTest
}
void TearDown() override {
delete m_speedController;
delete m_motorController;
delete m_encoder;
}
void Reset() {
m_speedController->SetInverted(false);
m_speedController->Set(0.0);
m_motorController->SetInverted(false);
m_motorController->Set(0.0);
m_encoder->Reset();
}
};
@@ -73,13 +73,13 @@ class MotorInvertingTest
TEST_P(MotorInvertingTest, InvertingPositive) {
Reset();
m_speedController->Set(motorSpeed);
m_motorController->Set(motorSpeed);
Wait(delayTime);
bool initDirection = m_encoder->GetDirection();
m_speedController->SetInverted(true);
m_speedController->Set(motorSpeed);
m_motorController->SetInverted(true);
m_motorController->Set(motorSpeed);
Wait(delayTime);
@@ -92,14 +92,14 @@ TEST_P(MotorInvertingTest, InvertingPositive) {
TEST_P(MotorInvertingTest, InvertingNegative) {
Reset();
m_speedController->SetInverted(false);
m_speedController->Set(-motorSpeed);
m_motorController->SetInverted(false);
m_motorController->Set(-motorSpeed);
Wait(delayTime);
bool initDirection = m_encoder->GetDirection();
m_speedController->SetInverted(true);
m_speedController->Set(-motorSpeed);
m_motorController->SetInverted(true);
m_motorController->Set(-motorSpeed);
Wait(delayTime);
@@ -112,14 +112,14 @@ TEST_P(MotorInvertingTest, InvertingNegative) {
TEST_P(MotorInvertingTest, InvertingSwitchingPosToNeg) {
Reset();
m_speedController->SetInverted(false);
m_speedController->Set(motorSpeed);
m_motorController->SetInverted(false);
m_motorController->Set(motorSpeed);
Wait(delayTime);
bool initDirection = m_encoder->GetDirection();
m_speedController->SetInverted(true);
m_speedController->Set(-motorSpeed);
m_motorController->SetInverted(true);
m_motorController->Set(-motorSpeed);
Wait(delayTime);
@@ -132,14 +132,14 @@ TEST_P(MotorInvertingTest, InvertingSwitchingPosToNeg) {
TEST_P(MotorInvertingTest, InvertingSwitchingNegToPos) {
Reset();
m_speedController->SetInverted(false);
m_speedController->Set(-motorSpeed);
m_motorController->SetInverted(false);
m_motorController->Set(-motorSpeed);
Wait(delayTime);
bool initDirection = m_encoder->GetDirection();
m_speedController->SetInverted(true);
m_speedController->Set(motorSpeed);
m_motorController->SetInverted(true);
m_motorController->Set(motorSpeed);
Wait(delayTime);