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[wpilib] Remove deprecated MotorControllerGroup (#8349)

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Charlotte
2025-11-09 13:31:26 -05:00
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parent 4ea584b64f
commit 5636b8cd77
5 changed files with 0 additions and 505 deletions
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131
wpilibc/src/test/native/cpp/motorcontrol/MotorControllerGroupTest.cpp
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@@ -1,131 +0,0 @@
// 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/motor/MotorControllerGroup.hpp" // NOLINT(build/include_order)
#include <memory>
#include <vector>
#include <gtest/gtest.h>
#include "motorcontrol/MockMotorController.hpp"
#include "wpi/util/deprecated.hpp"
using namespace wpi;
enum MotorControllerGroupTestType { TEST_ONE, TEST_TWO, TEST_THREE };
std::ostream& operator<<(std::ostream& os,
const MotorControllerGroupTestType& type) {
switch (type) {
case TEST_ONE:
os << "MotorControllerGroup with one motor controller";
break;
case TEST_TWO:
os << "MotorControllerGroup with two motor controllers";
break;
case TEST_THREE:
os << "MotorControllerGroup with three motor controllers";
break;
}
return os;
}
WPI_IGNORE_DEPRECATED
/**
* A fixture used for MotorControllerGroup testing.
*/
class MotorControllerGroupTest
: public testing::TestWithParam<MotorControllerGroupTestType> {
protected:
std::vector<MockMotorController> m_motorControllers;
std::unique_ptr<MotorControllerGroup> m_group;
void SetUp() override {
switch (GetParam()) {
case TEST_ONE: {
m_motorControllers.emplace_back();
m_group = std::make_unique<MotorControllerGroup>(m_motorControllers[0]);
break;
}
case TEST_TWO: {
m_motorControllers.emplace_back();
m_motorControllers.emplace_back();
m_group = std::make_unique<MotorControllerGroup>(m_motorControllers[0],
m_motorControllers[1]);
break;
}
case TEST_THREE: {
m_motorControllers.emplace_back();
m_motorControllers.emplace_back();
m_motorControllers.emplace_back();
m_group = std::make_unique<MotorControllerGroup>(m_motorControllers[0],
m_motorControllers[1],
m_motorControllers[2]);
break;
}
}
}
};
TEST_P(MotorControllerGroupTest, Set) {
m_group->Set(1.0);
for (auto& motorController : m_motorControllers) {
EXPECT_FLOAT_EQ(motorController.Get(), 1.0);
}
}
TEST_P(MotorControllerGroupTest, GetInverted) {
m_group->SetInverted(true);
EXPECT_TRUE(m_group->GetInverted());
}
TEST_P(MotorControllerGroupTest, SetInvertedDoesNotModifyMotorControllers) {
for (auto& motorController : m_motorControllers) {
motorController.SetInverted(false);
}
m_group->SetInverted(true);
for (auto& motorController : m_motorControllers) {
EXPECT_EQ(motorController.GetInverted(), false);
}
}
TEST_P(MotorControllerGroupTest, SetInvertedDoesInvert) {
m_group->SetInverted(true);
m_group->Set(1.0);
for (auto& motorController : m_motorControllers) {
EXPECT_FLOAT_EQ(motorController.Get(), -1.0);
}
}
TEST_P(MotorControllerGroupTest, Disable) {
m_group->Set(1.0);
m_group->Disable();
for (auto& motorController : m_motorControllers) {
EXPECT_FLOAT_EQ(motorController.Get(), 0.0);
}
}
TEST_P(MotorControllerGroupTest, StopMotor) {
m_group->Set(1.0);
m_group->StopMotor();
for (auto& motorController : m_motorControllers) {
EXPECT_FLOAT_EQ(motorController.Get(), 0.0);
}
}
INSTANTIATE_TEST_SUITE_P(Tests, MotorControllerGroupTest,
testing::Values(TEST_ONE, TEST_TWO, TEST_THREE));
WPI_UNIGNORE_DEPRECATED