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[wpimath] Move debouncer to filters (#3838)

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This commit is contained in:
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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58
wpimath/src/test/native/cpp/filter/DebouncerTest.cpp Normal file
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@@ -0,0 +1,58 @@
// 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 <wpi/timestamp.h>
#include "frc/filter/Debouncer.h"
#include "gtest/gtest.h"
#include "units/time.h"
static units::second_t now = 0_s;
class DebouncerTest : public ::testing::Test {
protected:
void SetUp() override {
WPI_SetNowImpl([] { return units::microsecond_t{now}.to<uint64_t>(); });
}
void TearDown() override { WPI_SetNowImpl(nullptr); }
};
TEST_F(DebouncerTest, DebounceRising) {
frc::Debouncer debouncer{20_ms};
debouncer.Calculate(false);
EXPECT_FALSE(debouncer.Calculate(true));
now += 1_s;
EXPECT_TRUE(debouncer.Calculate(true));
}
TEST_F(DebouncerTest, DebounceFalling) {
frc::Debouncer debouncer{20_ms, frc::Debouncer::DebounceType::kFalling};
debouncer.Calculate(true);
EXPECT_TRUE(debouncer.Calculate(false));
now += 1_s;
EXPECT_FALSE(debouncer.Calculate(false));
}
TEST_F(DebouncerTest, DebounceBoth) {
frc::Debouncer debouncer{20_ms, frc::Debouncer::DebounceType::kBoth};
debouncer.Calculate(false);
EXPECT_FALSE(debouncer.Calculate(true));
now += 1_s;
EXPECT_TRUE(debouncer.Calculate(true));
EXPECT_TRUE(debouncer.Calculate(false));
now += 1_s;
EXPECT_FALSE(debouncer.Calculate(false));
}

15
wpimath/src/test/native/cpp/filter/SlewRateLimiterTest.cpp
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@@ -12,7 +12,16 @@
static units::second_t now = 0_s;
TEST(SlewRateLimiterTest, SlewRateLimit) {
class SlewRateLimiterTest : public ::testing::Test {
protected:
void SetUp() override {
WPI_SetNowImpl([] { return units::microsecond_t{now}.to<uint64_t>(); });
}
void TearDown() override { WPI_SetNowImpl(nullptr); }
};
TEST_F(SlewRateLimiterTest, SlewRateLimit) {
WPI_SetNowImpl([] { return units::microsecond_t{now}.to<uint64_t>(); });
frc::SlewRateLimiter<units::meters> limiter(1_mps);
@@ -22,9 +31,7 @@ TEST(SlewRateLimiterTest, SlewRateLimit) {
EXPECT_LT(limiter.Calculate(2_m), 2_m);
}
TEST(SlewRateLimiterTest, SlewRateNoLimit) {
WPI_SetNowImpl([] { return units::microsecond_t{now}.to<uint64_t>(); });
TEST_F(SlewRateLimiterTest, SlewRateNoLimit) {
frc::SlewRateLimiter<units::meters> limiter(1_mps);
now += 1_s;