Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-22 01:11:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Move applicable integration tests to native build as unit tests (#1364)

Browse Source
This commit is contained in:
Tyler Veness
2018-10-29 00:12:38 -07:00
committed by Peter Johnson
parent e89d5eb692
commit 99e0f08a6f
8 changed files with 45 additions and 42 deletions
Download Patch File Download Diff File Expand all files Collapse all files

30
wpilibcIntegrationTests/src/main/native/include/MockSpeedController.h
View File

@@ -1,30 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "frc/SpeedController.h"
namespace frc {
class MockSpeedController : public SpeedController {
public:
void Set(double speed) override;
double Get() const override;
void SetInverted(bool isInverted) override;
bool GetInverted() const override;
void Disable() override;
void StopMotor() override;
void PIDWrite(double output) override;
private:
double m_speed = 0.0;
bool m_isInverted = false;
};
} // namespace frc

10
wpilibcIntegrationTests/src/main/native/include/TestBench.h
View File

@@ -56,14 +56,4 @@ class TestBench {
/* PCM channels */
static const int32_t kSolenoidChannel1 = 0;
static const int32_t kSolenoidChannel2 = 1;
/* Filter constants */
static constexpr double kFilterStep = 0.005;
static constexpr double kFilterTime = 2.0;
static constexpr double kSinglePoleIIRTimeConstant = 0.015915;
static constexpr double kSinglePoleIIRExpectedOutput = -3.2172003;
static constexpr double kHighPassTimeConstant = 0.006631;
static constexpr double kHighPassExpectedOutput = 10.074717;
static constexpr int32_t kMovAvgTaps = 6;
static constexpr double kMovAvgExpectedOutput = -10.191644;
};