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Implement PCM One Shot feature. Fixes artf4731 (#539)

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This commit is contained in:
sciencewhiz
2017-11-26 12:55:21 -08:00
committed by Peter Johnson
parent a338ee8be0
commit 7a250a1b93
11 changed files with 297 additions and 1 deletions
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82
wpilibcIntegrationTests/src/FRCUserProgram/cpp/PCMTest.cpp
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@@ -157,3 +157,85 @@ TEST_F(PCMTest, DoubleSolenoid) {
EXPECT_TRUE(solenoid.Get() == DoubleSolenoid::kReverse)
<< "Solenoid does not read reverse";
}
TEST_F(PCMTest, OneShot) {
Reset();
Solenoid solenoid1(TestBench::kSolenoidChannel1);
Solenoid solenoid2(TestBench::kSolenoidChannel2);
// Turn both solenoids off
solenoid1.Set(false);
solenoid2.Set(false);
Wait(kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
EXPECT_FALSE(solenoid2.Get()) << "Solenoid #2 did not read off";
// Pulse Solenoid #1 on, and turn Solenoid #2 off
solenoid1.SetPulseDuration(2 * kSolenoidDelayTime);
solenoid2.Set(false);
solenoid1.StartPulse();
Wait(kSolenoidDelayTime);
EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
EXPECT_TRUE(solenoid1.Get()) << "Solenoid #1 did not read on";
EXPECT_FALSE(solenoid2.Get()) << "Solenoid #2 did not read off";
Wait(2 * kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
EXPECT_FALSE(solenoid2.Get()) << "Solenoid #2 did not read off";
// Turn Solenoid #1 off, and pulse Solenoid #2 on
solenoid1.Set(false);
solenoid2.SetPulseDuration(2 * kSolenoidDelayTime);
solenoid2.StartPulse();
Wait(kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
EXPECT_TRUE(solenoid2.Get()) << "Solenoid #2 did not read on";
Wait(2 * kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
EXPECT_FALSE(solenoid2.Get()) << "Solenoid #2 did not read off";
// Pulse both Solenoids on
solenoid1.SetPulseDuration(2 * kSolenoidDelayTime);
solenoid2.SetPulseDuration(2 * kSolenoidDelayTime);
solenoid1.StartPulse();
solenoid2.StartPulse();
Wait(kSolenoidDelayTime);
EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
EXPECT_TRUE(solenoid1.Get()) << "Solenoid #1 did not read on";
EXPECT_TRUE(solenoid2.Get()) << "Solenoid #2 did not read on";
Wait(2 * kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
EXPECT_FALSE(solenoid2.Get()) << "Solenoid #2 did not read off";
// Pulse both Solenoids on with different durations
solenoid1.SetPulseDuration(1.5 * kSolenoidDelayTime);
solenoid2.SetPulseDuration(2.5 * kSolenoidDelayTime);
solenoid1.StartPulse();
solenoid2.StartPulse();
Wait(kSolenoidDelayTime);
EXPECT_FALSE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn on";
EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
EXPECT_TRUE(solenoid1.Get()) << "Solenoid #1 did not read on";
EXPECT_TRUE(solenoid2.Get()) << "Solenoid #2 did not read on";
Wait(kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_FALSE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn on";
EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
EXPECT_TRUE(solenoid2.Get()) << "Solenoid #2 did not read on";
Wait(2 * kSolenoidDelayTime);
EXPECT_TRUE(m_fakeSolenoid1->Get()) << "Solenoid #1 did not turn off";
EXPECT_TRUE(m_fakeSolenoid2->Get()) << "Solenoid #2 did not turn off";
EXPECT_FALSE(solenoid1.Get()) << "Solenoid #1 did not read off";
EXPECT_FALSE(solenoid2.Get()) << "Solenoid #2 did not read off";
}