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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
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PCMTest.java
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@@ -34,7 +34,7 @@ public class PCMTest extends AbstractComsSetup {
protected static final double kCompressorOnVoltage = 5.00;
protected static final double kCompressorOffVoltage = 1.68;
private static Compressor compressor;
private static PneumaticsControlModule pcm;
private static DigitalOutput fakePressureSwitch;
private static AnalogInput fakeCompressor;
@@ -44,7 +44,7 @@ public class PCMTest extends AbstractComsSetup {
@BeforeClass
public static void setUpBeforeClass() {
compressor = new Compressor();
pcm = new PneumaticsControlModule();
fakePressureSwitch = new DigitalOutput(11);
fakeCompressor = new AnalogInput(1);
@@ -64,7 +64,7 @@ public class PCMTest extends AbstractComsSetup {
@Before
public void reset() {
compressor.stop();
pcm.setClosedLoopControl(false);
fakePressureSwitch.set(false);
}
@@ -73,7 +73,7 @@ public class PCMTest extends AbstractComsSetup {
public void testPressureSwitch() throws Exception {
final double range = 0.5;
reset();
compressor.setClosedLoopControl(true);
pcm.setClosedLoopControl(true);
// Turn on the compressor
fakePressureSwitch.set(true);
@@ -99,8 +99,8 @@ public class PCMTest extends AbstractComsSetup {
public void testSolenoid() throws Exception {
reset();
Solenoid solenoid1 = new Solenoid(0);
Solenoid solenoid2 = new Solenoid(1);
Solenoid solenoid1 = new Solenoid(pcm, 0);
Solenoid solenoid2 = new Solenoid(pcm, 1);
solenoid1.set(false);
solenoid2.set(false);
@@ -147,7 +147,7 @@ public class PCMTest extends AbstractComsSetup {
*/
@Test
public void doubleSolenoid() {
DoubleSolenoid solenoid = new DoubleSolenoid(0, 1);
DoubleSolenoid solenoid = new DoubleSolenoid(pcm, 0, 1);
solenoid.set(DoubleSolenoid.Value.kOff);
Timer.delay(kSolenoidDelayTime);
@@ -177,8 +177,8 @@ public class PCMTest extends AbstractComsSetup {
public void testOneShot() throws Exception {
reset();
Solenoid solenoid1 = new Solenoid(0);
Solenoid solenoid2 = new Solenoid(1);
Solenoid solenoid1 = new Solenoid(pcm, 0);
Solenoid solenoid2 = new Solenoid(pcm, 1);
solenoid1.set(false);
solenoid2.set(false);