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[wpilib] GenericHID.setRumble: Fix Java integer overflow (#6529)

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This commit is contained in:
Ryan Blue
2024-05-04 11:36:40 -04:00
committed by GitHub
parent c76b358290
commit 7596aeda10
5 changed files with 112 additions and 8 deletions
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50
wpilibc/src/test/native/cpp/GenericHIDTest.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 <frc/GenericHID.h>
#include <frc/simulation/GenericHIDSim.h>
#include <gtest/gtest.h>
using namespace frc;
using RumbleType = GenericHID::RumbleType;
static constexpr double kEpsilon = 0.0001;
TEST(GenericHIDTest, RumbleRange) {
GenericHID hid{0};
sim::GenericHIDSim sim{0};
for (int i = 0; i <= 100; i++) {
double rumbleValue = i / 100.0;
hid.SetRumble(RumbleType::kBothRumble, rumbleValue);
EXPECT_NEAR(rumbleValue, sim.GetRumble(RumbleType::kLeftRumble), kEpsilon);
EXPECT_NEAR(rumbleValue, sim.GetRumble(RumbleType::kRightRumble), kEpsilon);
}
}
TEST(GenericHIDTest, RumbleTypes) {
GenericHID hid{0};
sim::GenericHIDSim sim{0};
// Make sure both are off
hid.SetRumble(RumbleType::kBothRumble, 0);
EXPECT_NEAR(0, sim.GetRumble(RumbleType::kBothRumble), kEpsilon);
// test both
hid.SetRumble(RumbleType::kBothRumble, 1);
EXPECT_NEAR(1, sim.GetRumble(RumbleType::kLeftRumble), kEpsilon);
EXPECT_NEAR(1, sim.GetRumble(RumbleType::kRightRumble), kEpsilon);
hid.SetRumble(RumbleType::kBothRumble, 0);
// test left only
hid.SetRumble(RumbleType::kLeftRumble, 1);
EXPECT_NEAR(1, sim.GetRumble(RumbleType::kLeftRumble), kEpsilon);
EXPECT_NEAR(0, sim.GetRumble(RumbleType::kRightRumble), kEpsilon);
hid.SetRumble(RumbleType::kLeftRumble, 0);
// test right only
hid.SetRumble(RumbleType::kRightRumble, 1);
EXPECT_NEAR(0, sim.GetRumble(RumbleType::kLeftRumble), kEpsilon);
EXPECT_NEAR(1, sim.GetRumble(RumbleType::kRightRumble), kEpsilon);
hid.SetRumble(RumbleType::kRightRumble, 0);
}