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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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54
wpilibj/src/test/java/edu/wpi/first/wpilibj/DebouncerTest.java
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@@ -1,54 +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.
package edu.wpi.first.wpilibj;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.wpilibj.simulation.SimHooks;
import org.junit.jupiter.api.Test;
class DebouncerTest {
@Test
void debounceRisingTest() {
var debouncer = new Debouncer(0.02, Debouncer.DebounceType.kRising);
debouncer.calculate(false);
assertFalse(debouncer.calculate(true));
SimHooks.stepTiming(0.1);
assertTrue(debouncer.calculate(true));
}
@Test
void debounceFallingTest() {
var debouncer = new Debouncer(0.02, Debouncer.DebounceType.kFalling);
debouncer.calculate(true);
assertTrue(debouncer.calculate(false));
SimHooks.stepTiming(0.1);
assertFalse(debouncer.calculate(false));
}
@Test
void debounceBothTest() {
var debouncer = new Debouncer(0.02, Debouncer.DebounceType.kBoth);
debouncer.calculate(false);
assertFalse(debouncer.calculate(true));
SimHooks.stepTiming(0.1);
assertTrue(debouncer.calculate(true));
assertTrue(debouncer.calculate(false));
SimHooks.stepTiming(0.1);
assertFalse(debouncer.calculate(false));
}
}