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Make DoubleSolenoid work in Java [artf3457]

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Make DoubleSolenoid and Solenoid use SolenoidBase, like in C++.

Add an integration tests for double solenoids.

Change-Id: I9a7ff562d65a564c5adabfa73f85f23ad466215b
This commit is contained in:
Thomas Clark
2014-08-29 12:50:44 -04:00
parent f439adc2a3
commit 9b896eab70
4 changed files with 84 additions and 85 deletions
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43
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PCMTest.java
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@@ -32,7 +32,7 @@ public class PCMTest extends AbstractComsSetup {
protected static final double kCompressorDelayTime = 2.0;
/* Solenoids should change much more quickly */
protected static final double kSolenoidDelayTime = 0.1;
protected static final double kSolenoidDelayTime = 1.0;
/* The voltage divider on the test bench should bring the compressor output
to around these values. */
@@ -44,7 +44,6 @@ public class PCMTest extends AbstractComsSetup {
private static DigitalOutput fakePressureSwitch;
private static AnalogInput fakeCompressor;
private static Solenoid solenoid1, solenoid2;
private static DigitalInput fakeSolenoid1, fakeSolenoid2;
@BeforeClass
@@ -54,9 +53,6 @@ public class PCMTest extends AbstractComsSetup {
fakePressureSwitch = new DigitalOutput(11);
fakeCompressor = new AnalogInput(1);
solenoid1 = new Solenoid(7);
solenoid2 = new Solenoid(6);
fakeSolenoid1 = new DigitalInput(12);
fakeSolenoid2 = new DigitalInput(13);
}
@@ -68,9 +64,6 @@ public class PCMTest extends AbstractComsSetup {
fakePressureSwitch.free();
fakeCompressor.free();
solenoid1.free();
solenoid2.free();
fakeSolenoid1.free();
fakeSolenoid2.free();
}
@@ -83,8 +76,6 @@ public class PCMTest extends AbstractComsSetup {
public void reset() throws Exception {
compressor.stop();
fakePressureSwitch.set(false);
solenoid1.set(false);
solenoid2.set(false);
}
@After
@@ -120,6 +111,9 @@ public class PCMTest extends AbstractComsSetup {
public void testSolenoid() throws Exception {
reset();
Solenoid solenoid1 = new Solenoid(0);
Solenoid solenoid2 = new Solenoid(1);
solenoid1.set(false);
solenoid2.set(false);
Timer.delay(kSolenoidDelayTime);
@@ -146,6 +140,35 @@ public class PCMTest extends AbstractComsSetup {
Timer.delay(kSolenoidDelayTime);
assertFalse("Solenoid #1 did not turn on",fakeSolenoid1.get());
assertFalse("Solenoid #2 did not turn on",fakeSolenoid2.get());
solenoid1.free();
solenoid2.free();
}
/**
* Test if the correct solenoids turn on and off when they should when used
* with the DoubleSolenoid class.
*/
@Test
public void doubleSolenoid() {
DoubleSolenoid solenoid = new DoubleSolenoid(0, 1);
solenoid.set(DoubleSolenoid.Value.kOff);
Timer.delay(kSolenoidDelayTime);
assertTrue("Solenoid #1 did not turn off", fakeSolenoid1.get());
assertTrue("Solenoid #2 did not turn off", fakeSolenoid2.get());
solenoid.set(DoubleSolenoid.Value.kForward);
Timer.delay(kSolenoidDelayTime);
assertFalse("Solenoid #1 did not turn on", fakeSolenoid1.get());
assertTrue("Solenoid #2 did not turn off", fakeSolenoid2.get());
solenoid.set(DoubleSolenoid.Value.kReverse);
Timer.delay(kSolenoidDelayTime);
assertTrue("Solenoid #1 did not turn off", fakeSolenoid1.get());
assertFalse("Solenoid #2 did not turn on", fakeSolenoid2.get());
solenoid.free();
}
protected Logger getClassLogger(){