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[wpimath] Add Debouncer type and time setters (#7839)

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Signed-off-by: swurl <swurl@swurl.xyz>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
crueter
2025-03-03 19:21:38 -05:00
committed by GitHub
parent 93bf6c70ba
commit 0ad595c33c
4 changed files with 107 additions and 2 deletions
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18
wpimath/src/test/java/edu/wpi/first/math/filter/DebouncerTest.java
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@@ -4,7 +4,9 @@
package edu.wpi.first.math.filter;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertSame;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.util.WPIUtilJNI;
@@ -67,4 +69,20 @@ class DebouncerTest {
assertFalse(debouncer.calculate(false));
}
@Test
void debounceParamsTest() {
var debouncer = new Debouncer(0.02, Debouncer.DebounceType.kBoth);
assertEquals(debouncer.getDebounceTime(), 0.02);
assertSame(debouncer.getDebounceType(), Debouncer.DebounceType.kBoth);
debouncer.setDebounceTime(0.1);
assertEquals(debouncer.getDebounceTime(), 0.1);
debouncer.setDebounceType(Debouncer.DebounceType.kFalling);
assertSame(debouncer.getDebounceType(), Debouncer.DebounceType.kFalling);
}
}

17
wpimath/src/test/native/cpp/filter/DebouncerTest.cpp
View File

@@ -56,3 +56,20 @@ TEST_F(DebouncerTest, DebounceBoth) {
EXPECT_FALSE(debouncer.Calculate(false));
}
TEST_F(DebouncerTest, DebounceParams) {
frc::Debouncer debouncer{20_ms, frc::Debouncer::DebounceType::kBoth};
EXPECT_TRUE(debouncer.GetDebounceTime() == 20_ms);
EXPECT_TRUE(debouncer.GetDebounceType() ==
frc::Debouncer::DebounceType::kBoth);
debouncer.SetDebounceTime(100_ms);
EXPECT_TRUE(debouncer.GetDebounceTime() == 100_ms);
debouncer.SetDebounceType(frc::Debouncer::DebounceType::kFalling);
EXPECT_TRUE(debouncer.GetDebounceType() ==
frc::Debouncer::DebounceType::kFalling);
}