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[wpilib] ExHub Follower Fixes (#8892)

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A chunk of updates to followers on Expansion Hub

Fixes followers not implicitly enabling.
Allows followers to follow other followers
Throws exceptions on construction if a follower cycle is detected.
Allows reversing followers.

The enable thing will fix
https://github.com/wpilibsuite/SystemcoreTesting/discussions/259#discussioncomment-16886195

Closes #8843

Depends on https://github.com/wpilibsuite/scservices/pull/30
This commit is contained in:
Thad House
2026-05-14 21:50:38 -07:00
committed by GitHub
parent b91001f504
commit 3f1cf3cabe
9 changed files with 260 additions and 5 deletions
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37
wpilibc/src/test/native/cpp/hardware/ExpansionHubMotorTest.cpp Normal file
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// 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 "wpi/hardware/expansionhub/ExpansionHubMotor.hpp"
#include <gtest/gtest.h>
#include "wpi/hal/HAL.h"
#include "wpi/system/Errors.hpp"
namespace wpi {
TEST(ExpansionHubMotorTest, FollowerLoopDetection) {
HAL_Initialize(500, 0);
wpi::ExpansionHubMotor motor0{0, 0};
wpi::ExpansionHubMotor motor1{0, 1};
wpi::ExpansionHubMotor motor2{0, 2};
// Test that a simple loop is detected
motor1.Follow(motor2, wpi::ExpansionHubMotor::FollowDirection::Opposed);
motor2.Follow(motor0, wpi::ExpansionHubMotor::FollowDirection::Opposed);
EXPECT_THROW(
motor0.Follow(motor1, wpi::ExpansionHubMotor::FollowDirection::Opposed),
wpi::RuntimeError);
}
TEST(ExpansionHubMotorTest, Follower) {
HAL_Initialize(500, 0);
wpi::ExpansionHubMotor motor0{0, 0};
wpi::ExpansionHubMotor motor1{0, 1};
wpi::ExpansionHubMotor motor2{0, 2};
motor1.Follow(motor2, wpi::ExpansionHubMotor::FollowDirection::Opposed);
motor2.Follow(motor0, wpi::ExpansionHubMotor::FollowDirection::Opposed);
}
} // namespace wpi