Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-22 01:11:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Add CANSpeedController interface in Java.

Browse Source 
This helps to bring Java to parity with C++.

Change-Id: Ibc79fd788c5c3c11af5de49d0c87436ebf4ba710
This commit is contained in:
James Kuszmaul
2015-06-09 16:33:41 -04:00
parent 6ce98056d3
commit 27e4509676
4 changed files with 147 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/CANTalonTest.java
View File

@@ -87,7 +87,7 @@ public class CANTalonTest extends AbstractComsSetup {
@Test
public void SetGetPID() {
CANTalon talon = new CANTalon(0);
talon.changeControlMode(CANTalon.ControlMode.Position);
talon.changeControlMode(CANTalon.TalonControlMode.Position);
double p = 0.05, i = 0.098, d = 1.23;
talon.setPID(p, i , d);
assertTrue(errorMessage(talon.getP(), p), Math.abs(p - talon.getP()) < 1e-5);
@@ -106,7 +106,7 @@ public class CANTalonTest extends AbstractComsSetup {
@Test
public void positionModeWorks() {
CANTalon talon = new CANTalon(0);
talon.changeControlMode(CANTalon.ControlMode.Position);
talon.changeControlMode(CANTalon.TalonControlMode.Position);
talon.setFeedbackDevice(CANTalon.FeedbackDevice.AnalogPot);
Timer.delay(0.2);
double p = 1.0, i = 0.0, d = 0.00;