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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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18
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/digitalcommunication/Robot.java
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@@ -14,10 +14,10 @@ import edu.wpi.first.wpilibj.TimedRobot;
*/
public class Robot extends TimedRobot {
// define ports for digitalcommunication with light controller
private static final int kAlliancePort = 0;
private static final int kEnabledPort = 1;
private static final int kAutonomousPort = 2;
private static final int kAlertPort = 3;
static final int kAlliancePort = 0;
static final int kEnabledPort = 1;
static final int kAutonomousPort = 2;
static final int kAlertPort = 3;
private final DigitalOutput m_allianceOutput = new DigitalOutput(kAlliancePort);
private final DigitalOutput m_enabledOutput = new DigitalOutput(kEnabledPort);
@@ -39,4 +39,14 @@ public class Robot extends TimedRobot {
var matchTime = DriverStation.getMatchTime();
m_alertOutput.set(matchTime <= 30 && matchTime >= 25);
}
/** Close all resources. */
@Override
public void close() {
m_allianceOutput.close();
m_enabledOutput.close();
m_autonomousOutput.close();
m_alertOutput.close();
super.close();
}
}

3
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json
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@@ -803,7 +803,8 @@
"name": "Digital Communication Sample",
"description": "An example program that communicates with external devices (such as an Arduino) using the roboRIO's DIO",
"tags": [
"Digital"
"Digital",
"Unit Testing"
],
"foldername": "digitalcommunication",
"gradlebase": "java",

15
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/i2ccommunication/Robot.java
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@@ -6,6 +6,7 @@ package edu.wpi.first.wpilibj.examples.i2ccommunication;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.I2C;
import edu.wpi.first.wpilibj.I2C.Port;
import edu.wpi.first.wpilibj.TimedRobot;
/**
@@ -13,9 +14,10 @@ import edu.wpi.first.wpilibj.TimedRobot;
* code using the roboRIO's I2C port.
*/
public class Robot extends TimedRobot {
private static int kDeviceAddress = 4;
static final Port kPort = Port.kOnboard;
private static final int kDeviceAddress = 4;
private static I2C m_arduino = new I2C(I2C.Port.kOnboard, kDeviceAddress);
private final I2C m_arduino = new I2C(kPort, kDeviceAddress);
private void writeString(String input) {
// Creates a char array from the input string
@@ -30,7 +32,7 @@ public class Robot extends TimedRobot {
}
// Writes bytes over I2C
m_arduino.transaction(data, data.length, null, 0);
m_arduino.transaction(data, data.length, new byte[] {}, 0);
}
@Override
@@ -54,4 +56,11 @@ public class Robot extends TimedRobot {
writeString(stateMessage.toString());
}
/** Close all resources. */
@Override
public void close() {
m_arduino.close();
super.close();
}
}