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[hal] Add a unified PCM object (#3331)

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This commit is contained in:
Thad House
2021-06-05 22:36:39 -07:00
committed by GitHub
parent dea841103d
commit 0e702eb799
103 changed files with 2643 additions and 5676 deletions
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18
wpilibcIntegrationTests/src/main/native/cpp/PCMTest.cpp
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@@ -4,10 +4,10 @@
#include "TestBench.h"
#include "frc/AnalogInput.h"
#include "frc/Compressor.h"
#include "frc/DigitalInput.h"
#include "frc/DigitalOutput.h"
#include "frc/DoubleSolenoid.h"
#include "frc/PneumaticsControlModule.h"
#include "frc/Solenoid.h"
#include "frc/Timer.h"
#include "gtest/gtest.h"
@@ -26,7 +26,7 @@ static const double kCompressorOffVoltage = 1.68;
class PCMTest : public testing::Test {
protected:
frc::Compressor m_compressor;
frc::PneumaticsControlModule m_pneumaticsModule;
frc::DigitalOutput m_fakePressureSwitch{
TestBench::kFakePressureSwitchChannel};
@@ -35,7 +35,7 @@ class PCMTest : public testing::Test {
frc::DigitalInput m_fakeSolenoid2{TestBench::kFakeSolenoid2Channel};
void Reset() {
m_compressor.Stop();
m_pneumaticsModule.SetClosedLoopControl(false);
m_fakePressureSwitch.Set(false);
}
};
@@ -46,7 +46,7 @@ class PCMTest : public testing::Test {
TEST_F(PCMTest, PressureSwitch) {
Reset();
m_compressor.SetClosedLoopControl(true);
m_pneumaticsModule.SetClosedLoopControl(true);
// Turn on the compressor
m_fakePressureSwitch.Set(true);
@@ -66,8 +66,8 @@ TEST_F(PCMTest, PressureSwitch) {
*/
TEST_F(PCMTest, Solenoid) {
Reset();
frc::Solenoid solenoid1{TestBench::kSolenoidChannel1};
frc::Solenoid solenoid2{TestBench::kSolenoidChannel2};
frc::Solenoid solenoid1{m_pneumaticsModule, TestBench::kSolenoidChannel1};
frc::Solenoid solenoid2{m_pneumaticsModule, TestBench::kSolenoidChannel2};
// Turn both solenoids off
solenoid1.Set(false);
@@ -111,7 +111,7 @@ TEST_F(PCMTest, Solenoid) {
* with the DoubleSolenoid class.
*/
TEST_F(PCMTest, DoubleSolenoid) {
frc::DoubleSolenoid solenoid{TestBench::kSolenoidChannel1,
frc::DoubleSolenoid solenoid{m_pneumaticsModule, TestBench::kSolenoidChannel1,
TestBench::kSolenoidChannel2};
solenoid.Set(frc::DoubleSolenoid::kOff);
@@ -138,8 +138,8 @@ TEST_F(PCMTest, DoubleSolenoid) {
TEST_F(PCMTest, OneShot) {
Reset();
frc::Solenoid solenoid1{TestBench::kSolenoidChannel1};
frc::Solenoid solenoid2{TestBench::kSolenoidChannel2};
frc::Solenoid solenoid1{m_pneumaticsModule, TestBench::kSolenoidChannel1};
frc::Solenoid solenoid2{m_pneumaticsModule, TestBench::kSolenoidChannel2};
// Turn both solenoids off
solenoid1.Set(false);