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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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56
wpilibj/src/test/java/edu/wpi/first/wpilibj/GenericHIDTest.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 edu.wpi.first.wpilibj;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.wpilibj.GenericHID.RumbleType;
import edu.wpi.first.wpilibj.simulation.GenericHIDSim;
import org.junit.jupiter.api.Test;
class GenericHIDTest {
private static final double kEpsilon = 0.0001;
@Test
void testRumbleRange() {
GenericHID hid = new GenericHID(0);
GenericHIDSim sim = new GenericHIDSim(0);
for (int i = 0; i <= 100; i++) {
double rumbleValue = i / 100.0;
hid.setRumble(RumbleType.kBothRumble, rumbleValue);
assertEquals(rumbleValue, sim.getRumble(RumbleType.kLeftRumble), kEpsilon);
assertEquals(rumbleValue, sim.getRumble(RumbleType.kRightRumble), kEpsilon);
}
}
@Test
void testRumbleTypes() {
GenericHID hid = new GenericHID(0);
GenericHIDSim sim = new GenericHIDSim(0);
// Make sure both are off
hid.setRumble(RumbleType.kBothRumble, 0);
assertEquals(0, sim.getRumble(RumbleType.kBothRumble), kEpsilon);
// test both
hid.setRumble(RumbleType.kBothRumble, 1);
assertEquals(1, sim.getRumble(RumbleType.kLeftRumble), kEpsilon);
assertEquals(1, sim.getRumble(RumbleType.kRightRumble), kEpsilon);
hid.setRumble(RumbleType.kBothRumble, 0);
// test left only
hid.setRumble(RumbleType.kLeftRumble, 1);
assertEquals(1, sim.getRumble(RumbleType.kLeftRumble), kEpsilon);
assertEquals(0, sim.getRumble(RumbleType.kRightRumble), kEpsilon);
hid.setRumble(RumbleType.kLeftRumble, 0);
// test right only
hid.setRumble(RumbleType.kRightRumble, 1);
assertEquals(0, sim.getRumble(RumbleType.kLeftRumble), kEpsilon);
assertEquals(1, sim.getRumble(RumbleType.kRightRumble), kEpsilon);
hid.setRumble(RumbleType.kRightRumble, 0);
}
}