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

[hal, wpilib] Incorporate pneumatic control type into wpilibc/j (#3728)

Browse Source
This commit is contained in:
Thad House
2021-11-23 20:32:02 -08:00
committed by GitHub
parent 9aba2b7583
commit b156db400d
35 changed files with 693 additions and 216 deletions
Download Patch File Download Diff File Expand all files Collapse all files

62
wpilibc/src/test/native/cpp/simulation/REVPHSimTest.cpp
View File

@@ -96,23 +96,67 @@ TEST(REVPHSimTest, SetCompressorOn) {
EXPECT_TRUE(callback.GetLastValue());
}
TEST(REVPHSimTest, SetClosedLoopEnabled) {
TEST(REVPHSimTest, SetEnableDigital) {
PneumaticHub ph;
REVPHSim sim(ph);
sim.ResetData();
BooleanCallback callback;
EnumCallback callback;
auto cb =
sim.RegisterClosedLoopEnabledCallback(callback.GetCallback(), false);
sim.RegisterCompressorConfigTypeCallback(callback.GetCallback(), false);
ph.SetClosedLoopControl(false);
EXPECT_FALSE(ph.GetClosedLoopControl());
ph.DisableCompressor();
EXPECT_EQ(ph.GetCompressorConfigType(), CompressorConfigType::Disabled);
ph.SetClosedLoopControl(true);
EXPECT_TRUE(sim.GetClosedLoopEnabled());
EXPECT_TRUE(ph.GetClosedLoopControl());
ph.EnableCompressorDigital();
EXPECT_EQ(sim.GetCompressorConfigType(),
static_cast<int>(CompressorConfigType::Digital));
EXPECT_EQ(ph.GetCompressorConfigType(), CompressorConfigType::Digital);
EXPECT_TRUE(callback.WasTriggered());
EXPECT_TRUE(callback.GetLastValue());
EXPECT_EQ(callback.GetLastValue(),
static_cast<int>(CompressorConfigType::Digital));
}
TEST(REVPHSimTest, SetEnableAnalog) {
PneumaticHub ph;
REVPHSim sim(ph);
sim.ResetData();
EnumCallback callback;
auto cb =
sim.RegisterCompressorConfigTypeCallback(callback.GetCallback(), false);
ph.DisableCompressor();
EXPECT_EQ(ph.GetCompressorConfigType(), CompressorConfigType::Disabled);
ph.EnableCompressorAnalog(1, 2);
EXPECT_EQ(sim.GetCompressorConfigType(),
static_cast<int>(CompressorConfigType::Analog));
EXPECT_EQ(ph.GetCompressorConfigType(), CompressorConfigType::Analog);
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(callback.GetLastValue(),
static_cast<int>(CompressorConfigType::Analog));
}
TEST(REVPHSimTest, SetEnableHybrid) {
PneumaticHub ph;
REVPHSim sim(ph);
sim.ResetData();
EnumCallback callback;
auto cb =
sim.RegisterCompressorConfigTypeCallback(callback.GetCallback(), false);
ph.DisableCompressor();
EXPECT_EQ(ph.GetCompressorConfigType(), CompressorConfigType::Disabled);
ph.EnableCompressorHybrid(1, 2);
EXPECT_EQ(sim.GetCompressorConfigType(),
static_cast<int>(CompressorConfigType::Hybrid));
EXPECT_EQ(ph.GetCompressorConfigType(), CompressorConfigType::Hybrid);
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(callback.GetLastValue(),
static_cast<int>(CompressorConfigType::Hybrid));
}
TEST(REVPHSimTest, SetPressureSwitchEnabled) {