Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

SCRIPT namespace replacements

Browse Source
This commit is contained in:
PJ Reiniger
2025-11-07 20:00:05 -05:00
committed by Peter Johnson
parent ae6c043632
commit 9aca8e0fd6
2622 changed files with 22275 additions and 22275 deletions
Download Patch File Download Diff File Expand all files Collapse all files

72
wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/ArmSimulationTest.cpp
View File

@@ -18,22 +18,22 @@
#include "Constants.hpp"
#include "Robot.hpp"
class ArmSimulationTest : public testing::TestWithParam<units::degree_t> {
class ArmSimulationTest : public testing::TestWithParam<wpi::units::degree_t> {
Robot m_robot;
std::optional<std::thread> m_thread;
protected:
frc::sim::PWMMotorControllerSim m_motorSim{kMotorPort};
frc::sim::EncoderSim m_encoderSim =
frc::sim::EncoderSim::CreateForChannel(kEncoderAChannel);
frc::sim::JoystickSim m_joystickSim{kJoystickPort};
wpi::sim::PWMMotorControllerSim m_motorSim{kMotorPort};
wpi::sim::EncoderSim m_encoderSim =
wpi::sim::EncoderSim::CreateForChannel(kEncoderAChannel);
wpi::sim::JoystickSim m_joystickSim{kJoystickPort};
public:
void SetUp() override {
frc::sim::PauseTiming();
wpi::sim::PauseTiming();
m_thread = std::thread([&] { m_robot.StartCompetition(); });
frc::sim::StepTiming(0.0_ms); // Wait for Notifiers
wpi::sim::StepTiming(0.0_ms); // Wait for Notifiers
}
void TearDown() override {
@@ -41,30 +41,30 @@ class ArmSimulationTest : public testing::TestWithParam<units::degree_t> {
m_thread->join();
m_encoderSim.ResetData();
frc::sim::DriverStationSim::ResetData();
frc::Preferences::RemoveAll();
wpi::sim::DriverStationSim::ResetData();
wpi::Preferences::RemoveAll();
}
};
TEST_P(ArmSimulationTest, Teleop) {
EXPECT_TRUE(frc::Preferences::ContainsKey(kArmPositionKey));
EXPECT_TRUE(frc::Preferences::ContainsKey(kArmPKey));
frc::Preferences::SetDouble(kArmPositionKey, GetParam().value());
units::degree_t setpoint = GetParam();
EXPECT_TRUE(wpi::Preferences::ContainsKey(kArmPositionKey));
EXPECT_TRUE(wpi::Preferences::ContainsKey(kArmPKey));
wpi::Preferences::SetDouble(kArmPositionKey, GetParam().value());
wpi::units::degree_t setpoint = GetParam();
EXPECT_DOUBLE_EQ(setpoint.value(),
frc::Preferences::GetDouble(kArmPositionKey, NAN));
wpi::Preferences::GetDouble(kArmPositionKey, NAN));
// teleop init
{
frc::sim::DriverStationSim::SetAutonomous(false);
frc::sim::DriverStationSim::SetEnabled(true);
frc::sim::DriverStationSim::NotifyNewData();
wpi::sim::DriverStationSim::SetAutonomous(false);
wpi::sim::DriverStationSim::SetEnabled(true);
wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(m_encoderSim.GetInitialized());
}
{
frc::sim::StepTiming(3_s);
wpi::sim::StepTiming(3_s);
// Ensure arm is still at minimum angle.
EXPECT_NEAR(kMinAngle.value(), m_encoderSim.GetDistance(), 2.0);
@@ -75,20 +75,20 @@ TEST_P(ArmSimulationTest, Teleop) {
m_joystickSim.SetTrigger(true);
m_joystickSim.NotifyNewData();
frc::sim::StepTiming(1.5_s);
wpi::sim::StepTiming(1.5_s);
EXPECT_NEAR(setpoint.value(),
units::radian_t(m_encoderSim.GetDistance())
.convert<units::degree>()
wpi::units::radian_t(m_encoderSim.GetDistance())
.convert<wpi::units::degree>()
.value(),
2.0);
// see setpoint is held.
frc::sim::StepTiming(0.5_s);
wpi::sim::StepTiming(0.5_s);
EXPECT_NEAR(setpoint.value(),
units::radian_t(m_encoderSim.GetDistance())
.convert<units::degree>()
wpi::units::radian_t(m_encoderSim.GetDistance())
.convert<wpi::units::degree>()
.value(),
2.0);
}
@@ -98,7 +98,7 @@ TEST_P(ArmSimulationTest, Teleop) {
m_joystickSim.SetTrigger(false);
m_joystickSim.NotifyNewData();
frc::sim::StepTiming(3_s);
wpi::sim::StepTiming(3_s);
EXPECT_NEAR(kMinAngle.value(), m_encoderSim.GetDistance(), 2.0);
}
@@ -109,31 +109,31 @@ TEST_P(ArmSimulationTest, Teleop) {
m_joystickSim.NotifyNewData();
// advance 75 timesteps
frc::sim::StepTiming(1.5_s);
wpi::sim::StepTiming(1.5_s);
EXPECT_NEAR(setpoint.value(),
units::radian_t(m_encoderSim.GetDistance())
.convert<units::degree>()
wpi::units::radian_t(m_encoderSim.GetDistance())
.convert<wpi::units::degree>()
.value(),
2.0);
// advance 25 timesteps to see setpoint is held.
frc::sim::StepTiming(0.5_s);
wpi::sim::StepTiming(0.5_s);
EXPECT_NEAR(setpoint.value(),
units::radian_t(m_encoderSim.GetDistance())
.convert<units::degree>()
wpi::units::radian_t(m_encoderSim.GetDistance())
.convert<wpi::units::degree>()
.value(),
2.0);
}
{
// Disable
frc::sim::DriverStationSim::SetAutonomous(false);
frc::sim::DriverStationSim::SetEnabled(false);
frc::sim::DriverStationSim::NotifyNewData();
wpi::sim::DriverStationSim::SetAutonomous(false);
wpi::sim::DriverStationSim::SetEnabled(false);
wpi::sim::DriverStationSim::NotifyNewData();
frc::sim::StepTiming(3_s);
wpi::sim::StepTiming(3_s);
ASSERT_NEAR(0.0, m_motorSim.GetSpeed(), 0.05);
EXPECT_NEAR(kMinAngle.value(), m_encoderSim.GetDistance(), 2.0);
@@ -143,7 +143,7 @@ TEST_P(ArmSimulationTest, Teleop) {
INSTANTIATE_TEST_SUITE_P(
ArmSimulationTests, ArmSimulationTest,
testing::Values(kDefaultArmSetpoint, 25.0_deg, 50.0_deg),
[](const testing::TestParamInfo<units::degree_t>& info) {
[](const testing::TestParamInfo<wpi::units::degree_t>& info) {
return testing::PrintToString(info.param.value())
.append(std::string(info.param.abbreviation()));
});

38
wpilibcExamples/src/test/cpp/examples/DigitalCommunication/cpp/DigitalCommunicationTest.cpp
View File

@@ -16,19 +16,19 @@
template <typename T>
class DigitalCommunicationTest : public testing::TestWithParam<T> {
public:
frc::sim::DIOSim m_allianceOutput{Robot::kAlliancePort};
frc::sim::DIOSim m_enabledOutput{Robot::kEnabledPort};
frc::sim::DIOSim m_autonomousOutput{Robot::kAutonomousPort};
frc::sim::DIOSim m_alertOutput{Robot::kAlertPort};
wpi::sim::DIOSim m_allianceOutput{Robot::kAlliancePort};
wpi::sim::DIOSim m_enabledOutput{Robot::kEnabledPort};
wpi::sim::DIOSim m_autonomousOutput{Robot::kAutonomousPort};
wpi::sim::DIOSim m_alertOutput{Robot::kAlertPort};
Robot m_robot;
std::optional<std::thread> m_thread;
void SetUp() override {
frc::sim::PauseTiming();
frc::sim::DriverStationSim::ResetData();
wpi::sim::PauseTiming();
wpi::sim::DriverStationSim::ResetData();
m_thread = std::thread([&] { m_robot.StartCompetition(); });
frc::sim::StepTiming(0.0_ms);
wpi::sim::StepTiming(0.0_ms);
// SimHooks.stepTiming(0.0); // Wait for Notifiers
}
@@ -46,13 +46,13 @@ class AllianceTest : public DigitalCommunicationTest<HAL_AllianceStationID> {};
TEST_P(AllianceTest, Alliance) {
auto alliance = GetParam();
frc::sim::DriverStationSim::SetAllianceStationId(alliance);
frc::sim::DriverStationSim::NotifyNewData();
wpi::sim::DriverStationSim::SetAllianceStationId(alliance);
wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(m_allianceOutput.GetInitialized());
EXPECT_FALSE(m_allianceOutput.GetIsInput());
frc::sim::StepTiming(20_ms);
wpi::sim::StepTiming(20_ms);
bool isRed = false;
switch (alliance) {
@@ -102,13 +102,13 @@ class EnabledTest : public DigitalCommunicationTest<bool> {};
TEST_P(EnabledTest, Enabled) {
auto enabled = GetParam();
frc::sim::DriverStationSim::SetEnabled(enabled);
frc::sim::DriverStationSim::NotifyNewData();
wpi::sim::DriverStationSim::SetEnabled(enabled);
wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(m_enabledOutput.GetInitialized());
EXPECT_FALSE(m_enabledOutput.GetIsInput());
frc::sim::StepTiming(20_ms);
wpi::sim::StepTiming(20_ms);
EXPECT_EQ(enabled, m_enabledOutput.GetValue());
}
@@ -120,13 +120,13 @@ class AutonomousTest : public DigitalCommunicationTest<bool> {};
TEST_P(AutonomousTest, Autonomous) {
auto autonomous = GetParam();
frc::sim::DriverStationSim::SetAutonomous(autonomous);
frc::sim::DriverStationSim::NotifyNewData();
wpi::sim::DriverStationSim::SetAutonomous(autonomous);
wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(m_autonomousOutput.GetInitialized());
EXPECT_FALSE(m_autonomousOutput.GetIsInput());
frc::sim::StepTiming(20_ms);
wpi::sim::StepTiming(20_ms);
EXPECT_EQ(autonomous, m_autonomousOutput.GetValue());
}
@@ -138,13 +138,13 @@ class AlertTest : public DigitalCommunicationTest<double> {};
TEST_P(AlertTest, Alert) {
auto matchTime = GetParam();
frc::sim::DriverStationSim::SetMatchTime(matchTime);
frc::sim::DriverStationSim::NotifyNewData();
wpi::sim::DriverStationSim::SetMatchTime(matchTime);
wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(m_alertOutput.GetInitialized());
EXPECT_FALSE(m_alertOutput.GetIsInput());
frc::sim::StepTiming(20_ms);
wpi::sim::StepTiming(20_ms);
EXPECT_EQ(matchTime <= 30 && matchTime >= 25, m_alertOutput.GetValue());
}

40
wpilibcExamples/src/test/cpp/examples/ElevatorSimulation/cpp/ElevatorSimulationTest.cpp
View File

@@ -25,17 +25,17 @@ class ElevatorSimulationTest : public testing::Test {
std::optional<std::thread> m_thread;
protected:
frc::sim::PWMMotorControllerSim m_motorSim{Constants::kMotorPort};
frc::sim::EncoderSim m_encoderSim =
frc::sim::EncoderSim::CreateForChannel(Constants::kEncoderAChannel);
frc::sim::JoystickSim m_joystickSim{Constants::kJoystickPort};
wpi::sim::PWMMotorControllerSim m_motorSim{Constants::kMotorPort};
wpi::sim::EncoderSim m_encoderSim =
wpi::sim::EncoderSim::CreateForChannel(Constants::kEncoderAChannel);
wpi::sim::JoystickSim m_joystickSim{Constants::kJoystickPort};
public:
void SetUp() override {
frc::sim::PauseTiming();
wpi::sim::PauseTiming();
m_thread = std::thread([&] { m_robot.StartCompetition(); });
frc::sim::StepTiming(0.0_ms); // Wait for Notifiers
wpi::sim::StepTiming(0.0_ms); // Wait for Notifiers
}
void TearDown() override {
@@ -43,23 +43,23 @@ class ElevatorSimulationTest : public testing::Test {
m_thread->join();
m_encoderSim.ResetData();
frc::sim::DriverStationSim::ResetData();
wpi::sim::DriverStationSim::ResetData();
}
};
TEST_F(ElevatorSimulationTest, Teleop) {
// teleop init
{
frc::sim::DriverStationSim::SetAutonomous(false);
frc::sim::DriverStationSim::SetEnabled(true);
frc::sim::DriverStationSim::NotifyNewData();
wpi::sim::DriverStationSim::SetAutonomous(false);
wpi::sim::DriverStationSim::SetEnabled(true);
wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(m_encoderSim.GetInitialized());
}
{
// advance 50 timesteps
frc::sim::StepTiming(1_s);
wpi::sim::StepTiming(1_s);
// Ensure elevator is still at 0.
EXPECT_NEAR(0.0, m_encoderSim.GetDistance(), 0.05);
@@ -71,12 +71,12 @@ TEST_F(ElevatorSimulationTest, Teleop) {
m_joystickSim.NotifyNewData();
// advance 75 timesteps
frc::sim::StepTiming(1.5_s);
wpi::sim::StepTiming(1.5_s);
EXPECT_NEAR(kSetpoint.value(), m_encoderSim.GetDistance(), 0.05);
// advance 25 timesteps to see setpoint is held.
frc::sim::StepTiming(0.5_s);
wpi::sim::StepTiming(0.5_s);
EXPECT_NEAR(kSetpoint.value(), m_encoderSim.GetDistance(), 0.05);
}
@@ -87,7 +87,7 @@ TEST_F(ElevatorSimulationTest, Teleop) {
m_joystickSim.NotifyNewData();
// advance 75 timesteps
frc::sim::StepTiming(1.5_s);
wpi::sim::StepTiming(1.5_s);
EXPECT_NEAR(0.0, m_encoderSim.GetDistance(), 0.05);
}
@@ -98,24 +98,24 @@ TEST_F(ElevatorSimulationTest, Teleop) {
m_joystickSim.NotifyNewData();
// advance 75 timesteps
frc::sim::StepTiming(1.5_s);
wpi::sim::StepTiming(1.5_s);
EXPECT_NEAR(kSetpoint.value(), m_encoderSim.GetDistance(), 0.05);
// advance 25 timesteps to see setpoint is held.
frc::sim::StepTiming(0.5_s);
wpi::sim::StepTiming(0.5_s);
EXPECT_NEAR(kSetpoint.value(), m_encoderSim.GetDistance(), 0.05);
}
{
// Disable
frc::sim::DriverStationSim::SetAutonomous(false);
frc::sim::DriverStationSim::SetEnabled(false);
frc::sim::DriverStationSim::NotifyNewData();
wpi::sim::DriverStationSim::SetAutonomous(false);
wpi::sim::DriverStationSim::SetEnabled(false);
wpi::sim::DriverStationSim::NotifyNewData();
// advance 75 timesteps
frc::sim::StepTiming(1.5_s);
wpi::sim::StepTiming(1.5_s);
ASSERT_NEAR(0.0, m_motorSim.GetSpeed(), 0.05);
ASSERT_NEAR(0.0, m_encoderSim.GetDistance(), 0.05);

30
wpilibcExamples/src/test/cpp/examples/I2CCommunication/cpp/I2CCommunicationTest.cpp
View File

@@ -31,14 +31,14 @@ class I2CCommunicationTest : public testing::TestWithParam<T> {
void SetUp() override {
gString = std::string();
frc::sim::PauseTiming();
frc::sim::DriverStationSim::ResetData();
wpi::sim::PauseTiming();
wpi::sim::DriverStationSim::ResetData();
m_port = static_cast<int32_t>(Robot::kPort);
m_callback = HALSIM_RegisterI2CWriteCallback(m_port, &callback, nullptr);
m_thread = std::thread([&] { m_robot.StartCompetition(); });
frc::sim::StepTiming(0.0_ms); // Wait for Notifiers
wpi::sim::StepTiming(0.0_ms); // Wait for Notifiers
}
void TearDown() override {
@@ -54,12 +54,12 @@ class AllianceTest : public I2CCommunicationTest<HAL_AllianceStationID> {};
TEST_P(AllianceTest, Alliance) {
auto alliance = GetParam();
frc::sim::DriverStationSim::SetAllianceStationId(alliance);
frc::sim::DriverStationSim::NotifyNewData();
wpi::sim::DriverStationSim::SetAllianceStationId(alliance);
wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(HALSIM_GetI2CInitialized(m_port));
frc::sim::StepTiming(20_ms);
wpi::sim::StepTiming(20_ms);
char expected = 'U';
switch (alliance) {
@@ -111,12 +111,12 @@ class EnabledTest : public I2CCommunicationTest<bool> {};
TEST_P(EnabledTest, Enabled) {
auto enabled = GetParam();
frc::sim::DriverStationSim::SetEnabled(enabled);
frc::sim::DriverStationSim::NotifyNewData();
wpi::sim::DriverStationSim::SetEnabled(enabled);
wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(HALSIM_GetI2CInitialized(m_port));
frc::sim::StepTiming(20_ms);
wpi::sim::StepTiming(20_ms);
char expected = enabled ? 'E' : 'D';
EXPECT_EQ(expected, gString.at(1));
@@ -129,12 +129,12 @@ class AutonomousTest : public I2CCommunicationTest<bool> {};
TEST_P(AutonomousTest, Autonomous) {
auto autonomous = GetParam();
frc::sim::DriverStationSim::SetAutonomous(autonomous);
frc::sim::DriverStationSim::NotifyNewData();
wpi::sim::DriverStationSim::SetAutonomous(autonomous);
wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(HALSIM_GetI2CInitialized(m_port));
frc::sim::StepTiming(20_ms);
wpi::sim::StepTiming(20_ms);
char expected = autonomous ? 'A' : 'T';
EXPECT_EQ(expected, gString.at(2));
@@ -147,12 +147,12 @@ class MatchTimeTest : public I2CCommunicationTest<int> {};
TEST_P(MatchTimeTest, Alert) {
auto matchTime = GetParam();
frc::sim::DriverStationSim::SetMatchTime(matchTime);
frc::sim::DriverStationSim::NotifyNewData();
wpi::sim::DriverStationSim::SetMatchTime(matchTime);
wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(HALSIM_GetI2CInitialized(m_port));
frc::sim::StepTiming(20_ms);
wpi::sim::StepTiming(20_ms);
std::string expected = fmt::format("{:03}", matchTime);
EXPECT_EQ(expected, gString.substr(3));

42
wpilibcExamples/src/test/cpp/examples/PotentiometerPID/cpp/PotentiometerPIDTest.cpp
View File

@@ -22,16 +22,16 @@
#include "Robot.hpp"
class PotentiometerPIDTest : public testing::Test {
frc::DCMotor m_elevatorGearbox = frc::DCMotor::Vex775Pro(4);
wpi::math::DCMotor m_elevatorGearbox = wpi::math::DCMotor::Vex775Pro(4);
static constexpr double kElevatorGearing = 10.0;
static constexpr units::meter_t kElevatorDrumRadius = 2.0_in;
static constexpr units::kilogram_t kCarriageMass = 4.0_kg;
static constexpr wpi::units::meter_t kElevatorDrumRadius = 2.0_in;
static constexpr wpi::units::kilogram_t kCarriageMass = 4.0_kg;
Robot m_robot;
std::optional<std::thread> m_thread;
protected:
frc::sim::ElevatorSim m_elevatorSim{m_elevatorGearbox,
wpi::sim::ElevatorSim m_elevatorSim{m_elevatorGearbox,
kElevatorGearing,
kCarriageMass,
kElevatorDrumRadius,
@@ -39,16 +39,16 @@ class PotentiometerPIDTest : public testing::Test {
Robot::kFullHeight,
true,
0.0_m};
frc::sim::PWMMotorControllerSim m_motorSim{Robot::kMotorChannel};
frc::sim::AnalogInputSim m_analogSim{Robot::kPotChannel};
frc::sim::JoystickSim m_joystickSim{Robot::kJoystickChannel};
wpi::sim::PWMMotorControllerSim m_motorSim{Robot::kMotorChannel};
wpi::sim::AnalogInputSim m_analogSim{Robot::kPotChannel};
wpi::sim::JoystickSim m_joystickSim{Robot::kJoystickChannel};
int32_t m_callback;
int32_t m_port;
public:
void SimPeriodicBefore() {
m_elevatorSim.SetInputVoltage(m_motorSim.GetSpeed() *
frc::RobotController::GetBatteryVoltage());
wpi::RobotController::GetBatteryVoltage());
m_elevatorSim.Update(20_ms);
/*
@@ -57,7 +57,7 @@ class PotentiometerPIDTest : public testing::Test {
3.3v * (meters / range) = v
*/
m_analogSim.SetVoltage(
(frc::RobotController::GetVoltage3V3() *
(wpi::RobotController::GetVoltage3V3() *
(m_elevatorSim.GetPosition().value() / Robot::kFullHeight))
.value());
}
@@ -67,8 +67,8 @@ class PotentiometerPIDTest : public testing::Test {
}
void SetUp() override {
frc::sim::PauseTiming();
frc::sim::DriverStationSim::ResetData();
wpi::sim::PauseTiming();
wpi::sim::DriverStationSim::ResetData();
m_joystickSim.SetButtonsMaximumIndex(12);
@@ -76,7 +76,7 @@ class PotentiometerPIDTest : public testing::Test {
HALSIM_RegisterSimPeriodicBeforeCallback(CallSimPeriodicBefore, this);
m_thread = std::thread([&] { m_robot.StartCompetition(); });
frc::sim::StepTiming(0.0_ms); // Wait for Notifiers
wpi::sim::StepTiming(0.0_ms); // Wait for Notifiers
}
void TearDown() override {
@@ -91,9 +91,9 @@ class PotentiometerPIDTest : public testing::Test {
TEST_F(PotentiometerPIDTest, Teleop) {
// teleop init
{
frc::sim::DriverStationSim::SetAutonomous(false);
frc::sim::DriverStationSim::SetEnabled(true);
frc::sim::DriverStationSim::NotifyNewData();
wpi::sim::DriverStationSim::SetAutonomous(false);
wpi::sim::DriverStationSim::SetEnabled(true);
wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(m_analogSim.GetInitialized());
}
@@ -101,7 +101,7 @@ TEST_F(PotentiometerPIDTest, Teleop) {
// first setpoint
{
// advance 50 timesteps
frc::sim::StepTiming(1_s);
wpi::sim::StepTiming(1_s);
EXPECT_NEAR(Robot::kSetpoints[0].value(),
m_elevatorSim.GetPosition().value(), 0.1);
@@ -114,7 +114,7 @@ TEST_F(PotentiometerPIDTest, Teleop) {
m_joystickSim.NotifyNewData();
// advance 50 timesteps
frc::sim::StepTiming(1_s);
wpi::sim::StepTiming(1_s);
EXPECT_NEAR(Robot::kSetpoints[1].value(),
m_elevatorSim.GetPosition().value(), 0.1);
@@ -126,7 +126,7 @@ TEST_F(PotentiometerPIDTest, Teleop) {
m_joystickSim.NotifyNewData();
// advance 10 timesteps
frc::sim::StepTiming(0.2_s);
wpi::sim::StepTiming(0.2_s);
}
// third setpoint
@@ -136,7 +136,7 @@ TEST_F(PotentiometerPIDTest, Teleop) {
m_joystickSim.NotifyNewData();
// advance 50 timesteps
frc::sim::StepTiming(1_s);
wpi::sim::StepTiming(1_s);
EXPECT_NEAR(Robot::kSetpoints[2].value(),
m_elevatorSim.GetPosition().value(), 0.1);
@@ -148,7 +148,7 @@ TEST_F(PotentiometerPIDTest, Teleop) {
m_joystickSim.NotifyNewData();
// advance 10 timesteps
frc::sim::StepTiming(0.2_s);
wpi::sim::StepTiming(0.2_s);
}
// rollover: first setpoint
@@ -158,7 +158,7 @@ TEST_F(PotentiometerPIDTest, Teleop) {
m_joystickSim.NotifyNewData();
// advance 60 timesteps
frc::sim::StepTiming(1.2_s);
wpi::sim::StepTiming(1.2_s);
EXPECT_NEAR(Robot::kSetpoints[0].value(),
m_elevatorSim.GetPosition().value(), 0.1);
}

10
wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp
View File

@@ -13,10 +13,10 @@
class IntakeTest : public testing::Test {
protected:
Intake intake; // create our intake
frc::sim::PWMMotorControllerSim simMotor{
wpi::sim::PWMMotorControllerSim simMotor{
IntakeConstants::kMotorPort}; // create our simulation PWM
frc::sim::DoubleSolenoidSim simPiston{
frc::PneumaticsModuleType::CTREPCM, IntakeConstants::kPistonFwdChannel,
wpi::sim::DoubleSolenoidSim simPiston{
wpi::PneumaticsModuleType::CTREPCM, IntakeConstants::kPistonFwdChannel,
IntakeConstants::kPistonRevChannel}; // create our simulation solenoid
};
@@ -36,10 +36,10 @@ TEST_F(IntakeTest, WorksWhenOpen) {
TEST_F(IntakeTest, Retract) {
intake.Retract();
EXPECT_EQ(frc::DoubleSolenoid::Value::kReverse, simPiston.Get());
EXPECT_EQ(wpi::DoubleSolenoid::Value::kReverse, simPiston.Get());
}
TEST_F(IntakeTest, Deploy) {
intake.Deploy();
EXPECT_EQ(frc::DoubleSolenoid::Value::kForward, simPiston.Get());
EXPECT_EQ(wpi::DoubleSolenoid::Value::kForward, simPiston.Get());
}