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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
wpilibj/src/test/java/org/wpilib/hardware/expansionhub/ExpansionHubMotorTest.java 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.
package org.wpilib.hardware.expansionhub;
import static org.junit.jupiter.api.Assertions.assertThrows;
import org.junit.jupiter.api.Test;
import org.wpilib.hardware.expansionhub.ExpansionHubMotor.FollowDirection;
import org.wpilib.hardware.hal.HAL;
class ExpansionHubMotorTest {
@Test
void testFollower() {
HAL.initialize(500, 0);
try (ExpansionHubMotor motor0 = new ExpansionHubMotor(0, 0);
ExpansionHubMotor motor1 = new ExpansionHubMotor(0, 1);
ExpansionHubMotor motor2 = new ExpansionHubMotor(0, 2); ) {
motor1.follow(motor2, FollowDirection.Opposed);
motor2.follow(motor0, FollowDirection.Opposed);
}
}
@Test
void testFollowerCycle() {
HAL.initialize(500, 0);
try (ExpansionHubMotor motor0 = new ExpansionHubMotor(0, 0);
ExpansionHubMotor motor1 = new ExpansionHubMotor(0, 1);
ExpansionHubMotor motor2 = new ExpansionHubMotor(0, 2); ) {
motor1.follow(motor2, FollowDirection.Opposed);
motor2.follow(motor0, FollowDirection.Opposed);
assertThrows(
IllegalStateException.class, () -> motor0.follow(motor1, FollowDirection.Opposed));
}
}
}