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Add Debouncer (#3590)

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Supersedes #2358 with updates and cleanups.

Closes #2482 and closes #2487 because we shouldn't support both
time-based and count-based debouncing approaches.

Co-authored-by: oblarg <emichaelbarnett@gmail.com>
This commit is contained in:
Tyler Veness
2021-09-19 19:58:16 -07:00
committed by GitHub
parent 179fde3a7b
commit 1ca383b23b
10 changed files with 344 additions and 1 deletions
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23
wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/ButtonTest.java
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@@ -12,6 +12,7 @@ import static org.mockito.Mockito.times;
import static org.mockito.Mockito.verify;
import static org.mockito.Mockito.when;
import edu.wpi.first.wpilibj.simulation.SimHooks;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import edu.wpi.first.wpilibj2.command.CommandTestBase;
@@ -172,4 +173,26 @@ class ButtonTest extends CommandTestBase {
assertFalse(button1.negate().get());
assertTrue(button1.and(button2.negate()).get());
}
@Test
void debounceTest() {
CommandScheduler scheduler = CommandScheduler.getInstance();
MockCommandHolder commandHolder = new MockCommandHolder(true);
Command command = commandHolder.getMock();
InternalButton button = new InternalButton();
Trigger debounced = button.debounce(0.1);
debounced.whenActive(command);
button.setPressed(true);
scheduler.run();
verify(command, never()).schedule(true);
SimHooks.stepTiming(0.3);
button.setPressed(true);
scheduler.run();
verify(command).schedule(true);
}
}