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

[hal, wpilib] Add REV PneumaticsHub (#3600)

Browse Source
This commit is contained in:
Thad House
2021-10-10 20:04:50 -07:00
committed by GitHub
parent 4c61a13057
commit 10f19e6fc3
49 changed files with 8383 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files

75
wpilibc/src/test/native/cpp/DoubleSolenoidTestCTRE.cpp Normal file
View File

@@ -0,0 +1,75 @@
// 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 <hal/HAL.h>
#include "frc/DoubleSolenoid.h"
#include "frc/PneumaticsControlModule.h"
#include "frc/Solenoid.h"
#include "gtest/gtest.h"
namespace frc {
TEST(DoubleSolenoidCTRETest, ValidInitialization) {
DoubleSolenoid solenoid{3, frc::PneumaticsModuleType::CTREPCM, 2, 3};
solenoid.Set(DoubleSolenoid::kReverse);
EXPECT_EQ(DoubleSolenoid::kReverse, solenoid.Get());
solenoid.Set(DoubleSolenoid::kForward);
EXPECT_EQ(DoubleSolenoid::kForward, solenoid.Get());
solenoid.Set(DoubleSolenoid::kOff);
EXPECT_EQ(DoubleSolenoid::kOff, solenoid.Get());
}
TEST(DoubleSolenoidCTRETest, ThrowForwardPortAlreadyInitialized) {
// Single solenoid that is reused for forward port
Solenoid solenoid{5, frc::PneumaticsModuleType::CTREPCM, 2};
EXPECT_THROW(DoubleSolenoid(5, frc::PneumaticsModuleType::CTREPCM, 2, 3),
std::runtime_error);
}
TEST(DoubleSolenoidCTRETest, ThrowReversePortAlreadyInitialized) {
// Single solenoid that is reused for forward port
Solenoid solenoid{6, frc::PneumaticsModuleType::CTREPCM, 3};
EXPECT_THROW(DoubleSolenoid(6, frc::PneumaticsModuleType::CTREPCM, 2, 3),
std::runtime_error);
}
TEST(DoubleSolenoidCTRETest, ThrowBothPortsAlreadyInitialized) {
PneumaticsControlModule pcm{6};
// Single solenoid that is reused for forward port
Solenoid solenoid0(6, frc::PneumaticsModuleType::CTREPCM, 2);
Solenoid solenoid1(6, frc::PneumaticsModuleType::CTREPCM, 3);
EXPECT_THROW(DoubleSolenoid(6, frc::PneumaticsModuleType::CTREPCM, 2, 3),
std::runtime_error);
}
TEST(DoubleSolenoidCTRETest, Toggle) {
DoubleSolenoid solenoid{4, frc::PneumaticsModuleType::CTREPCM, 2, 3};
// Bootstrap it into reverse
solenoid.Set(DoubleSolenoid::kReverse);
solenoid.Toggle();
EXPECT_EQ(DoubleSolenoid::kForward, solenoid.Get());
solenoid.Toggle();
EXPECT_EQ(DoubleSolenoid::kReverse, solenoid.Get());
// Of shouldn't do anything on toggle
solenoid.Set(DoubleSolenoid::kOff);
solenoid.Toggle();
EXPECT_EQ(DoubleSolenoid::kOff, solenoid.Get());
}
TEST(DoubleSolenoidCTRETest, InvalidForwardPort) {
EXPECT_THROW(DoubleSolenoid(0, frc::PneumaticsModuleType::CTREPCM, 100, 1),
std::runtime_error);
}
TEST(DoubleSolenoidCTRETest, InvalidReversePort) {
EXPECT_THROW(DoubleSolenoid(0, frc::PneumaticsModuleType::CTREPCM, 0, 100),
std::runtime_error);
}
} // namespace frc