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[sim] Add AnalogEncoderSim (#2647)

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Matt
2020-08-19 22:59:52 -07:00
committed by GitHub
parent 932bfcf374
commit 9398b6b55b
8 changed files with 237 additions and 1 deletions
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29
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogEncoderSimTest.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.simulation;
import edu.wpi.first.wpilibj.AnalogEncoder;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import org.junit.jupiter.api.Test;
import static org.junit.jupiter.api.Assertions.assertEquals;
public class AnalogEncoderSimTest {
@Test
public void testBasic() {
var analogInput = new AnalogInput(0);
var analogEncoder = new AnalogEncoder(analogInput);
var encoderSim = new AnalogEncoderSim(analogEncoder);
encoderSim.setPosition(Rotation2d.fromDegrees(180));
assertEquals(analogEncoder.get(), 0.5, 1E-8);
assertEquals(encoderSim.getTurns(), 0.5, 1E-8);
assertEquals(encoderSim.getPosition().getRadians(), Math.PI, 1E-8);
}
}