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[examples] DigitalCommunication, I2CCommunication: Add tests (#4865)

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This commit is contained in:
Starlight220
2023-01-09 02:33:53 +02:00
committed by GitHub
parent 2cd9be413f
commit 79f565191e
13 changed files with 709 additions and 74 deletions
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49
wpilibcExamples/src/main/cpp/examples/DigitalCommunication/cpp/Robot.cpp
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@@ -2,45 +2,28 @@
// 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/DigitalOutput.h>
#include "Robot.h"
#include <frc/DriverStation.h>
#include <frc/TimedRobot.h>
/**
* This is a sample program demonstrating how to communicate to a light
* controller from the robot code using the roboRIO's DIO ports.
*/
class Robot : public frc::TimedRobot {
public:
void RobotPeriodic() override {
// pull alliance port high if on red alliance, pull low if on blue alliance
m_allianceOutput.Set(frc::DriverStation::GetAlliance() ==
frc::DriverStation::kRed);
void Robot::RobotPeriodic() {
// pull alliance port high if on red alliance, pull low if on blue alliance
m_allianceOutput.Set(frc::DriverStation::GetAlliance() ==
frc::DriverStation::kRed);
// pull enabled port high if enabled, low if disabled
m_enabledOutput.Set(frc::DriverStation::IsEnabled());
// pull enabled port high if enabled, low if disabled
m_enabledOutput.Set(frc::DriverStation::IsEnabled());
// pull auto port high if in autonomous, low if in teleop (or disabled)
m_autonomousOutput.Set(frc::DriverStation::IsAutonomous());
// pull auto port high if in autonomous, low if in teleop (or disabled)
m_autonomousOutput.Set(frc::DriverStation::IsAutonomous());
// pull alert port high if match time remaining is between 30 and 25 seconds
auto matchTime = frc::DriverStation::GetMatchTime();
m_alertOutput.Set(matchTime <= 30 && matchTime >= 25);
}
private:
// define ports for communication with light controller
static constexpr int kAlliancePort = 0;
static constexpr int kEnabledPort = 1;
static constexpr int kAutonomousPort = 2;
static constexpr int kAlertPort = 3;
frc::DigitalOutput m_allianceOutput{kAlliancePort};
frc::DigitalOutput m_enabledOutput{kEnabledPort};
frc::DigitalOutput m_autonomousOutput{kAutonomousPort};
frc::DigitalOutput m_alertOutput{kAlertPort};
};
// pull alert port high if match time remaining is between 30 and 25 seconds
auto matchTime = frc::DriverStation::GetMatchTime();
m_alertOutput.Set(matchTime <= 30 && matchTime >= 25);
}
#ifndef RUNNING_FRC_TESTS
int main() {
return frc::StartRobot<Robot>();
}
#endif

31
wpilibcExamples/src/main/cpp/examples/DigitalCommunication/include/Robot.h 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.
#pragma once
#include <array>
#include <frc/DigitalOutput.h>
#include <frc/TimedRobot.h>
/**
* This is a sample program demonstrating how to communicate to a light
* controller from the robot code using the roboRIO's DIO ports.
*/
class Robot : public frc::TimedRobot {
public:
// define ports for communication with light controller
static constexpr int kAlliancePort = 0;
static constexpr int kEnabledPort = 1;
static constexpr int kAutonomousPort = 2;
static constexpr int kAlertPort = 3;
void RobotPeriodic() override;
private:
frc::DigitalOutput m_allianceOutput{kAlliancePort};
frc::DigitalOutput m_enabledOutput{kEnabledPort};
frc::DigitalOutput m_autonomousOutput{kAutonomousPort};
frc::DigitalOutput m_alertOutput{kAlertPort};
};

55
wpilibcExamples/src/main/cpp/examples/I2CCommunication/cpp/Robot.cpp
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@@ -2,45 +2,34 @@
// 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 "Robot.h"
#include <fmt/format.h>
#include <frc/DriverStation.h>
#include <frc/I2C.h>
#include <frc/TimedRobot.h>
#include <frc/Timer.h>
/**
* This is a sample program demonstrating how to communicate to a light
* controller from the robot code using the roboRIO's I2C port.
*/
class Robot : public frc::TimedRobot {
public:
void RobotPeriodic() override {
// Creates a string to hold current robot state information, including
// alliance, enabled state, operation mode, and match time. The message
// is sent in format "AEM###" where A is the alliance color, (R)ed or
// (B)lue, E is the enabled state, (E)nabled or (D)isabled, M is the
// operation mode, (A)utonomous or (T)eleop, and ### is the zero-padded
// time remaining in the match.
//
// For example, "RET043" would indicate that the robot is on the red
// alliance, enabled in teleop mode, with 43 seconds left in the match.
auto string = fmt::format(
"{}{}{}{:03}",
frc::DriverStation::GetAlliance() == frc::DriverStation::Alliance::kRed
? "R"
: "B",
frc::DriverStation::IsEnabled() ? "E" : "D",
frc::DriverStation::IsAutonomous() ? "A" : "T",
static_cast<int>(frc::Timer::GetMatchTime().value()));
void Robot::RobotPeriodic() {
// Creates a string to hold current robot state information, including
// alliance, enabled state, operation mode, and match time. The message
// is sent in format "AEM###" where A is the alliance color, (R)ed or
// (B)lue, E is the enabled state, (E)nabled or (D)isabled, M is the
// operation mode, (A)utonomous or (T)eleop, and ### is the zero-padded
// time remaining in the match.
//
// For example, "RET043" would indicate that the robot is on the red
// alliance, enabled in teleop mode, with 43 seconds left in the match.
auto string = fmt::format(
"{}{}{}{:03}",
frc::DriverStation::GetAlliance() == frc::DriverStation::Alliance::kRed
? "R"
: "B",
frc::DriverStation::IsEnabled() ? "E" : "D",
frc::DriverStation::IsAutonomous() ? "A" : "T",
static_cast<int>(frc::Timer::GetMatchTime().value()));
arduino.WriteBulk(reinterpret_cast<uint8_t*>(string.data()), string.size());
}
private:
static constexpr int deviceAddress = 4;
frc::I2C arduino{frc::I2C::Port::kOnboard, deviceAddress};
};
arduino.WriteBulk(reinterpret_cast<uint8_t*>(string.data()), string.size());
}
#ifndef RUNNING_FRC_TESTS
int main() {

25
wpilibcExamples/src/main/cpp/examples/I2CCommunication/include/Robot.h 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.
#pragma once
#include <array>
#include <frc/I2C.h>
#include <frc/TimedRobot.h>
/**
* This is a sample program demonstrating how to communicate to a light
* controller from the robot code using the roboRIO's I2C port.
*/
class Robot : public frc::TimedRobot {
public:
void RobotPeriodic() override;
static constexpr frc::I2C::Port kPort = frc::I2C::Port::kOnboard;
private:
static constexpr int deviceAddress = 4;
frc::I2C arduino{kPort, deviceAddress};
};