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[hal, wpilib] Add brownout voltage configuration (#3632)

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This commit is contained in:
Thad House
2021-10-13 19:14:27 -07:00
committed by GitHub
parent 9cd4bc407a
commit 689e9ccfb5
21 changed files with 319 additions and 0 deletions
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15
wpilibc/src/test/native/cpp/simulation/RoboRioSimTest.cpp
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@@ -60,6 +60,21 @@ TEST(RoboRioSimTest, SetVin) {
EXPECT_EQ(kTestCurrent, RobotController::GetInputCurrent());
}
TEST(RoboRioSimTest, SetBrownout) {
RoboRioSim::ResetData();
DoubleCallback voltageCallback;
auto voltageCb = RoboRioSim::RegisterBrownoutVoltageCallback(
voltageCallback.GetCallback(), false);
constexpr double kTestVoltage = 1.91;
RoboRioSim::SetBrownoutVoltage(units::volt_t{kTestVoltage});
EXPECT_TRUE(voltageCallback.WasTriggered());
EXPECT_EQ(kTestVoltage, voltageCallback.GetLastValue());
EXPECT_EQ(kTestVoltage, RoboRioSim::GetBrownoutVoltage().to<double>());
EXPECT_EQ(kTestVoltage, RobotController::GetBrownoutVoltage().to<double>());
}
TEST(RoboRioSimTest, Set6V) {
RoboRioSim::ResetData();