From 384d00f9e6dc6236f9cf3729da8d3bea3273f1e8 Mon Sep 17 00:00:00 2001
From: Thad House <ThadHouse@users.noreply.github.com>
Date: Wed, 6 Nov 2019 14:05:25 -0800
Subject: [PATCH] Fix various duty cycle bugs (#2047)

---
 hal/src/main/native/athena/AnalogTrigger.cpp |  2 +-
 hal/src/main/native/athena/DutyCycle.cpp     |  3 ++-
 hal/src/main/native/sim/AnalogTrigger.cpp    | 18 ------------------
 wpilibc/src/main/native/cpp/DutyCycle.cpp    |  2 +-
 4 files changed, 4 insertions(+), 21 deletions(-)

diff --git a/hal/src/main/native/athena/AnalogTrigger.cpp b/hal/src/main/native/athena/AnalogTrigger.cpp
index 421b7794b9..9ec3f29e3d 100644
--- a/hal/src/main/native/athena/AnalogTrigger.cpp
+++ b/hal/src/main/native/athena/AnalogTrigger.cpp
@@ -154,7 +154,7 @@ void HAL_SetAnalogTriggerLimitsDutyCycle(
 
   trigger->trigger->writeLowerLimit(static_cast<int32_t>(scaleFactor * lower),
                                     status);
-  trigger->trigger->writeLowerLimit(static_cast<int32_t>(scaleFactor * upper),
+  trigger->trigger->writeUpperLimit(static_cast<int32_t>(scaleFactor * upper),
                                     status);
 }
 
diff --git a/hal/src/main/native/athena/DutyCycle.cpp b/hal/src/main/native/athena/DutyCycle.cpp
index 5553f0d2b8..0912e85a7c 100644
--- a/hal/src/main/native/athena/DutyCycle.cpp
+++ b/hal/src/main/native/athena/DutyCycle.cpp
@@ -88,7 +88,8 @@ int32_t HAL_GetDutyCycleFrequency(HAL_DutyCycleHandle dutyCycleHandle,
 
 double HAL_GetDutyCycleOutput(HAL_DutyCycleHandle dutyCycleHandle,
                               int32_t* status) {
-  return HAL_GetDutyCycleOutputRaw(dutyCycleHandle, status) / kScaleFactor;
+  return HAL_GetDutyCycleOutputRaw(dutyCycleHandle, status) /
+         static_cast<double>(kScaleFactor);
 }
 
 int32_t HAL_GetDutyCycleOutputRaw(HAL_DutyCycleHandle dutyCycleHandle,
diff --git a/hal/src/main/native/sim/AnalogTrigger.cpp b/hal/src/main/native/sim/AnalogTrigger.cpp
index 4415803700..3ddacee7b7 100644
--- a/hal/src/main/native/sim/AnalogTrigger.cpp
+++ b/hal/src/main/native/sim/AnalogTrigger.cpp
@@ -179,25 +179,7 @@ void HAL_SetAnalogTriggerAveraged(HAL_AnalogTriggerHandle analogTriggerHandle,
                                  : HALSIM_AnalogTriggerUnassigned;
   triggerData->triggerMode = setVal;
 }
-void HAL_SetAnalogTriggerDutyCycle(HAL_AnalogTriggerHandle analogTriggerHandle,
-                                   HAL_Bool useDutyCycle, int32_t* status) {
-  auto trigger = analogTriggerHandles->Get(analogTriggerHandle);
-  if (trigger == nullptr) {
-    *status = HAL_HANDLE_ERROR;
-    return;
-  }
 
-  AnalogTriggerData* triggerData = &SimAnalogTriggerData[trigger->index];
-
-  if (triggerData->triggerMode.Get() != HALSIM_AnalogTriggerUnassigned) {
-    *status = INCOMPATIBLE_STATE;
-    return;
-  }
-
-  auto setVal = useDutyCycle ? HALSIM_AnalogTriggerDutyCycle
-                             : HALSIM_AnalogTriggerUnassigned;
-  triggerData->triggerMode = setVal;
-}
 void HAL_SetAnalogTriggerFiltered(HAL_AnalogTriggerHandle analogTriggerHandle,
                                   HAL_Bool useFilteredValue, int32_t* status) {
   auto trigger = analogTriggerHandles->Get(analogTriggerHandle);
diff --git a/wpilibc/src/main/native/cpp/DutyCycle.cpp b/wpilibc/src/main/native/cpp/DutyCycle.cpp
index 90ebaa5ae0..03283e86f5 100644
--- a/wpilibc/src/main/native/cpp/DutyCycle.cpp
+++ b/wpilibc/src/main/native/cpp/DutyCycle.cpp
@@ -78,7 +78,7 @@ double DutyCycle::GetOutput() const {
 
 unsigned int DutyCycle::GetOutputRaw() const {
   int32_t status = 0;
-  auto retVal = HAL_GetDutyCycleOutput(m_handle, &status);
+  auto retVal = HAL_GetDutyCycleOutputRaw(m_handle, &status);
   wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
   return retVal;
 }