Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-26 01:51:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpilib] Add support for the PS5 DualSense controller (#5257)

Browse Source 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
David Baucum
2023-10-30 11:25:16 -04:00
committed by GitHub
parent 8d5e6737fc
commit 9536a311cb
12 changed files with 2730 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

79
wpilibj/src/test/java/edu/wpi/first/wpilibj/PS5ControllerTest.java Normal file
View File

@@ -0,0 +1,79 @@
// 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.
package edu.wpi.first.wpilibj;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.simulation.PS5ControllerSim;
import java.lang.reflect.InvocationTargetException;
import java.lang.reflect.Method;
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.EnumSource;
class PS5ControllerTest {
@ParameterizedTest
@EnumSource(value = PS5Controller.Button.class)
void testButtons(PS5Controller.Button button)
throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
HAL.initialize(500, 0);
PS5Controller joy = new PS5Controller(2);
PS5ControllerSim joysim = new PS5ControllerSim(joy);
var buttonName = button.toString();
String simSetMethodName = "set" + buttonName;
String joyGetMethodName = "get" + buttonName;
String joyPressedMethodName = "get" + buttonName + "Pressed";
String joyReleasedMethodName = "get" + buttonName + "Released";
final Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, boolean.class);
final Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
final Method joyPressedMethod = joy.getClass().getMethod(joyPressedMethodName);
final Method joyReleasedMethod = joy.getClass().getMethod(joyReleasedMethodName);
simSetMethod.invoke(joysim, false);
joysim.notifyNewData();
assertFalse((Boolean) joyGetMethod.invoke(joy));
// need to call pressed and released to clear flags
joyPressedMethod.invoke(joy);
joyReleasedMethod.invoke(joy);
simSetMethod.invoke(joysim, true);
joysim.notifyNewData();
assertTrue((Boolean) joyGetMethod.invoke(joy));
assertTrue((Boolean) joyPressedMethod.invoke(joy));
assertFalse((Boolean) joyReleasedMethod.invoke(joy));
simSetMethod.invoke(joysim, false);
joysim.notifyNewData();
assertFalse((Boolean) joyGetMethod.invoke(joy));
assertFalse((Boolean) joyPressedMethod.invoke(joy));
assertTrue((Boolean) joyReleasedMethod.invoke(joy));
}
@ParameterizedTest
@EnumSource(value = PS5Controller.Axis.class)
void testAxes(PS5Controller.Axis axis)
throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
HAL.initialize(500, 0);
PS5Controller joy = new PS5Controller(2);
PS5ControllerSim joysim = new PS5ControllerSim(joy);
var axisName = axis.toString();
String simSetMethodName = "set" + axisName;
String joyGetMethodName = "get" + axisName;
Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, double.class);
Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
simSetMethod.invoke(joysim, 0.35);
joysim.notifyNewData();
assertEquals(0.35, (Double) joyGetMethod.invoke(joy), 0.001);
}
}