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[wpimath] Move debouncer to filters (#3838)

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Oblarg
2021-12-28 12:49:41 -05:00
committed by GitHub
parent 5999a26fba
commit aa9dfabde2
11 changed files with 150 additions and 85 deletions
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48
wpilibc/src/test/native/cpp/DebouncerTest.cpp
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@@ -1,48 +0,0 @@
// 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.
#include "frc/Debouncer.h" // NOLINT(build/include_order)
#include "frc/simulation/SimHooks.h"
#include "gtest/gtest.h"
using namespace frc;
TEST(DebouncerTest, DebounceRising) {
Debouncer debouncer{20_ms};
debouncer.Calculate(false);
EXPECT_FALSE(debouncer.Calculate(true));
frc::sim::StepTiming(100_ms);
EXPECT_TRUE(debouncer.Calculate(true));
}
TEST(DebouncerTest, DebounceFalling) {
Debouncer debouncer{20_ms, Debouncer::DebounceType::kFalling};
debouncer.Calculate(true);
EXPECT_TRUE(debouncer.Calculate(false));
frc::sim::StepTiming(100_ms);
EXPECT_FALSE(debouncer.Calculate(false));
}
TEST(DebouncerTest, DebounceBoth) {
Debouncer debouncer{20_ms, Debouncer::DebounceType::kBoth};
debouncer.Calculate(false);
EXPECT_FALSE(debouncer.Calculate(true));
frc::sim::StepTiming(100_ms);
EXPECT_TRUE(debouncer.Calculate(true));
EXPECT_TRUE(debouncer.Calculate(false));
frc::sim::StepTiming(100_ms);
EXPECT_FALSE(debouncer.Calculate(false));
}