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Adds RobotController class (#828)

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Unifies random functionality from other classes
Deprecates all old functions.
This commit is contained in:
Thad House
2017-12-10 21:52:49 -08:00
committed by Peter Johnson
parent 88a6b4ac38
commit 8b7aa61091
21 changed files with 668 additions and 19 deletions
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8
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AbstractInterruptTest.java
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@@ -99,7 +99,7 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
@Override
public void interruptFired(int interruptAssertedMask, InterruptCounter param) {
m_interruptFireTime.set(Utility.getFPGATime());
m_interruptFireTime.set(RobotController.getFPGATime());
m_counter.increment();
try {
// This won't cause the test to fail
@@ -132,7 +132,7 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
Timer.delay(0.01);
// Note: Utility.getFPGATime() is used because double values can turn over
// after the robot has been running for a long time
final long interruptTriggerTime = Utility.getFPGATime();
final long interruptTriggerTime = RobotController.getFPGATime();
setInterruptHigh();
// Delay until the interrupt is complete
@@ -205,11 +205,11 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
// Note: the long time value is used because doubles can flip if the robot
// is left running for long enough
final long startTimeStamp = Utility.getFPGATime();
final long startTimeStamp = RobotController.getFPGATime();
new Thread(runnable).start();
// Delay for twice as long as the timeout so the test should fail first
getInterruptable().waitForInterrupt(synchronousTimeout * 2);
final long stopTimeStamp = Utility.getFPGATime();
final long stopTimeStamp = RobotController.getFPGATime();
// Then
// The test will not have timed out and:

4
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DriverStationTest.java
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@@ -28,13 +28,13 @@ public class DriverStationTest extends AbstractComsSetup {
@Test
public void waitForDataTest() {
long startTime = Utility.getFPGATime();
long startTime = RobotController.getFPGATime();
// Wait for data 50 times
for (int i = 0; i < 50; i++) {
DriverStation.getInstance().waitForData();
}
long endTime = Utility.getFPGATime();
long endTime = RobotController.getFPGATime();
long difference = endTime - startTime;
assertEquals("DriverStation waitForData did not wait long enough", TIMER_RUNTIME, difference,

4
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/TimerTest.java
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@@ -29,11 +29,11 @@ public class TimerTest extends AbstractComsSetup {
@Test
public void delayTest() {
// Given
long startTime = Utility.getFPGATime();
long startTime = RobotController.getFPGATime();
// When
Timer.delay(TIMER_RUNTIME / 1000000);
long endTime = Utility.getFPGATime();
long endTime = RobotController.getFPGATime();
long difference = endTime - startTime;
// Then