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[wpilib] Rename MotorController setDutyCycle() to setThrottle() (#8720)

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Fixes #8716.
This commit is contained in:
Tyler Veness
2026-04-09 22:28:01 -07:00
committed by GitHub
parent a4e035ba64
commit b6849a8da3
160 changed files with 659 additions and 706 deletions
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156
wpilibj/src/test/java/org/wpilib/drive/DifferentialDriveTest.java
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@@ -253,227 +253,227 @@ class DifferentialDriveTest {
void testArcadeDrive() {
var left = new MockPWMMotorController();
var right = new MockPWMMotorController();
var drive = new DifferentialDrive(left::setDutyCycle, right::setDutyCycle);
var drive = new DifferentialDrive(left::setThrottle, right::setThrottle);
drive.setDeadband(0.0);
// Forward
drive.arcadeDrive(1.0, 0.0, false);
assertEquals(1.0, left.getDutyCycle(), 1e-9);
assertEquals(1.0, right.getDutyCycle(), 1e-9);
assertEquals(1.0, left.getThrottle(), 1e-9);
assertEquals(1.0, right.getThrottle(), 1e-9);
// Forward left turn
drive.arcadeDrive(0.5, 0.5, false);
assertEquals(0.0, left.getDutyCycle(), 1e-9);
assertEquals(0.5, right.getDutyCycle(), 1e-9);
assertEquals(0.0, left.getThrottle(), 1e-9);
assertEquals(0.5, right.getThrottle(), 1e-9);
// Forward right turn
drive.arcadeDrive(0.5, -0.5, false);
assertEquals(0.5, left.getDutyCycle(), 1e-9);
assertEquals(0.0, right.getDutyCycle(), 1e-9);
assertEquals(0.5, left.getThrottle(), 1e-9);
assertEquals(0.0, right.getThrottle(), 1e-9);
// Backward
drive.arcadeDrive(-1.0, 0.0, false);
assertEquals(-1.0, left.getDutyCycle(), 1e-9);
assertEquals(-1.0, right.getDutyCycle(), 1e-9);
assertEquals(-1.0, left.getThrottle(), 1e-9);
assertEquals(-1.0, right.getThrottle(), 1e-9);
// Backward left turn
drive.arcadeDrive(-0.5, 0.5, false);
assertEquals(-0.5, left.getDutyCycle(), 1e-9);
assertEquals(0.0, right.getDutyCycle(), 1e-9);
assertEquals(-0.5, left.getThrottle(), 1e-9);
assertEquals(0.0, right.getThrottle(), 1e-9);
// Backward right turn
drive.arcadeDrive(-0.5, -0.5, false);
assertEquals(0.0, left.getDutyCycle(), 1e-9);
assertEquals(-0.5, right.getDutyCycle(), 1e-9);
assertEquals(0.0, left.getThrottle(), 1e-9);
assertEquals(-0.5, right.getThrottle(), 1e-9);
}
@Test
void testArcadeDriveSquared() {
var left = new MockPWMMotorController();
var right = new MockPWMMotorController();
var drive = new DifferentialDrive(left::setDutyCycle, right::setDutyCycle);
var drive = new DifferentialDrive(left::setThrottle, right::setThrottle);
drive.setDeadband(0.0);
// Forward
drive.arcadeDrive(1.0, 0.0, true);
assertEquals(1.0, left.getDutyCycle(), 1e-9);
assertEquals(1.0, right.getDutyCycle(), 1e-9);
assertEquals(1.0, left.getThrottle(), 1e-9);
assertEquals(1.0, right.getThrottle(), 1e-9);
// Forward left turn
drive.arcadeDrive(0.5, 0.5, true);
assertEquals(0.0, left.getDutyCycle(), 1e-9);
assertEquals(0.25, right.getDutyCycle(), 1e-9);
assertEquals(0.0, left.getThrottle(), 1e-9);
assertEquals(0.25, right.getThrottle(), 1e-9);
// Forward right turn
drive.arcadeDrive(0.5, -0.5, true);
assertEquals(0.25, left.getDutyCycle(), 1e-9);
assertEquals(0.0, right.getDutyCycle(), 1e-9);
assertEquals(0.25, left.getThrottle(), 1e-9);
assertEquals(0.0, right.getThrottle(), 1e-9);
// Backward
drive.arcadeDrive(-1.0, 0.0, true);
assertEquals(-1.0, left.getDutyCycle(), 1e-9);
assertEquals(-1.0, right.getDutyCycle(), 1e-9);
assertEquals(-1.0, left.getThrottle(), 1e-9);
assertEquals(-1.0, right.getThrottle(), 1e-9);
// Backward left turn
drive.arcadeDrive(-0.5, 0.5, true);
assertEquals(-0.25, left.getDutyCycle(), 1e-9);
assertEquals(0.0, right.getDutyCycle(), 1e-9);
assertEquals(-0.25, left.getThrottle(), 1e-9);
assertEquals(0.0, right.getThrottle(), 1e-9);
// Backward right turn
drive.arcadeDrive(-0.5, -0.5, true);
assertEquals(0.0, left.getDutyCycle(), 1e-9);
assertEquals(-0.25, right.getDutyCycle(), 1e-9);
assertEquals(0.0, left.getThrottle(), 1e-9);
assertEquals(-0.25, right.getThrottle(), 1e-9);
}
@Test
void testCurvatureDrive() {
var left = new MockPWMMotorController();
var right = new MockPWMMotorController();
var drive = new DifferentialDrive(left::setDutyCycle, right::setDutyCycle);
var drive = new DifferentialDrive(left::setThrottle, right::setThrottle);
drive.setDeadband(0.0);
// Forward
drive.curvatureDrive(1.0, 0.0, false);
assertEquals(1.0, left.getDutyCycle(), 1e-9);
assertEquals(1.0, right.getDutyCycle(), 1e-9);
assertEquals(1.0, left.getThrottle(), 1e-9);
assertEquals(1.0, right.getThrottle(), 1e-9);
// Forward left turn
drive.curvatureDrive(0.5, 0.5, false);
assertEquals(0.25, left.getDutyCycle(), 1e-9);
assertEquals(0.75, right.getDutyCycle(), 1e-9);
assertEquals(0.25, left.getThrottle(), 1e-9);
assertEquals(0.75, right.getThrottle(), 1e-9);
// Forward right turn
drive.curvatureDrive(0.5, -0.5, false);
assertEquals(0.75, left.getDutyCycle(), 1e-9);
assertEquals(0.25, right.getDutyCycle(), 1e-9);
assertEquals(0.75, left.getThrottle(), 1e-9);
assertEquals(0.25, right.getThrottle(), 1e-9);
// Backward
drive.curvatureDrive(-1.0, 0.0, false);
assertEquals(-1.0, left.getDutyCycle(), 1e-9);
assertEquals(-1.0, right.getDutyCycle(), 1e-9);
assertEquals(-1.0, left.getThrottle(), 1e-9);
assertEquals(-1.0, right.getThrottle(), 1e-9);
// Backward left turn
drive.curvatureDrive(-0.5, 0.5, false);
assertEquals(-0.75, left.getDutyCycle(), 1e-9);
assertEquals(-0.25, right.getDutyCycle(), 1e-9);
assertEquals(-0.75, left.getThrottle(), 1e-9);
assertEquals(-0.25, right.getThrottle(), 1e-9);
// Backward right turn
drive.curvatureDrive(-0.5, -0.5, false);
assertEquals(-0.25, left.getDutyCycle(), 1e-9);
assertEquals(-0.75, right.getDutyCycle(), 1e-9);
assertEquals(-0.25, left.getThrottle(), 1e-9);
assertEquals(-0.75, right.getThrottle(), 1e-9);
}
@Test
void testCurvatureDriveTurnInPlace() {
var left = new MockPWMMotorController();
var right = new MockPWMMotorController();
var drive = new DifferentialDrive(left::setDutyCycle, right::setDutyCycle);
var drive = new DifferentialDrive(left::setThrottle, right::setThrottle);
drive.setDeadband(0.0);
// Forward
drive.curvatureDrive(1.0, 0.0, true);
assertEquals(1.0, left.getDutyCycle(), 1e-9);
assertEquals(1.0, right.getDutyCycle(), 1e-9);
assertEquals(1.0, left.getThrottle(), 1e-9);
assertEquals(1.0, right.getThrottle(), 1e-9);
// Forward left turn
drive.curvatureDrive(0.5, 0.5, true);
assertEquals(0.0, left.getDutyCycle(), 1e-9);
assertEquals(1.0, right.getDutyCycle(), 1e-9);
assertEquals(0.0, left.getThrottle(), 1e-9);
assertEquals(1.0, right.getThrottle(), 1e-9);
// Forward right turn
drive.curvatureDrive(0.5, -0.5, true);
assertEquals(1.0, left.getDutyCycle(), 1e-9);
assertEquals(0.0, right.getDutyCycle(), 1e-9);
assertEquals(1.0, left.getThrottle(), 1e-9);
assertEquals(0.0, right.getThrottle(), 1e-9);
// Backward
drive.curvatureDrive(-1.0, 0.0, true);
assertEquals(-1.0, left.getDutyCycle(), 1e-9);
assertEquals(-1.0, right.getDutyCycle(), 1e-9);
assertEquals(-1.0, left.getThrottle(), 1e-9);
assertEquals(-1.0, right.getThrottle(), 1e-9);
// Backward left turn
drive.curvatureDrive(-0.5, 0.5, true);
assertEquals(-1.0, left.getDutyCycle(), 1e-9);
assertEquals(0.0, right.getDutyCycle(), 1e-9);
assertEquals(-1.0, left.getThrottle(), 1e-9);
assertEquals(0.0, right.getThrottle(), 1e-9);
// Backward right turn
drive.curvatureDrive(-0.5, -0.5, true);
assertEquals(0.0, left.getDutyCycle(), 1e-9);
assertEquals(-1.0, right.getDutyCycle(), 1e-9);
assertEquals(0.0, left.getThrottle(), 1e-9);
assertEquals(-1.0, right.getThrottle(), 1e-9);
}
@Test
void testTankDrive() {
var left = new MockPWMMotorController();
var right = new MockPWMMotorController();
var drive = new DifferentialDrive(left::setDutyCycle, right::setDutyCycle);
var drive = new DifferentialDrive(left::setThrottle, right::setThrottle);
drive.setDeadband(0.0);
// Forward
drive.tankDrive(1.0, 1.0, false);
assertEquals(1.0, left.getDutyCycle(), 1e-9);
assertEquals(1.0, right.getDutyCycle(), 1e-9);
assertEquals(1.0, left.getThrottle(), 1e-9);
assertEquals(1.0, right.getThrottle(), 1e-9);
// Forward left turn
drive.tankDrive(0.5, 1.0, false);
assertEquals(0.5, left.getDutyCycle(), 1e-9);
assertEquals(1.0, right.getDutyCycle(), 1e-9);
assertEquals(0.5, left.getThrottle(), 1e-9);
assertEquals(1.0, right.getThrottle(), 1e-9);
// Forward right turn
drive.tankDrive(1.0, 0.5, false);
assertEquals(1.0, left.getDutyCycle(), 1e-9);
assertEquals(0.5, right.getDutyCycle(), 1e-9);
assertEquals(1.0, left.getThrottle(), 1e-9);
assertEquals(0.5, right.getThrottle(), 1e-9);
// Backward
drive.tankDrive(-1.0, -1.0, false);
assertEquals(-1.0, left.getDutyCycle(), 1e-9);
assertEquals(-1.0, right.getDutyCycle(), 1e-9);
assertEquals(-1.0, left.getThrottle(), 1e-9);
assertEquals(-1.0, right.getThrottle(), 1e-9);
// Backward left turn
drive.tankDrive(-0.5, -1.0, false);
assertEquals(-0.5, left.getDutyCycle(), 1e-9);
assertEquals(-1.0, right.getDutyCycle(), 1e-9);
assertEquals(-0.5, left.getThrottle(), 1e-9);
assertEquals(-1.0, right.getThrottle(), 1e-9);
// Backward right turn
drive.tankDrive(-0.5, 1.0, false);
assertEquals(-0.5, left.getDutyCycle(), 1e-9);
assertEquals(1.0, right.getDutyCycle(), 1e-9);
assertEquals(-0.5, left.getThrottle(), 1e-9);
assertEquals(1.0, right.getThrottle(), 1e-9);
}
@Test
void testTankDriveSquared() {
var left = new MockPWMMotorController();
var right = new MockPWMMotorController();
var drive = new DifferentialDrive(left::setDutyCycle, right::setDutyCycle);
var drive = new DifferentialDrive(left::setThrottle, right::setThrottle);
drive.setDeadband(0.0);
// Forward
drive.tankDrive(1.0, 1.0, true);
assertEquals(1.0, left.getDutyCycle(), 1e-9);
assertEquals(1.0, right.getDutyCycle(), 1e-9);
assertEquals(1.0, left.getThrottle(), 1e-9);
assertEquals(1.0, right.getThrottle(), 1e-9);
// Forward left turn
drive.tankDrive(0.5, 1.0, true);
assertEquals(0.25, left.getDutyCycle(), 1e-9);
assertEquals(1.0, right.getDutyCycle(), 1e-9);
assertEquals(0.25, left.getThrottle(), 1e-9);
assertEquals(1.0, right.getThrottle(), 1e-9);
// Forward right turn
drive.tankDrive(1.0, 0.5, true);
assertEquals(1.0, left.getDutyCycle(), 1e-9);
assertEquals(0.25, right.getDutyCycle(), 1e-9);
assertEquals(1.0, left.getThrottle(), 1e-9);
assertEquals(0.25, right.getThrottle(), 1e-9);
// Backward
drive.tankDrive(-1.0, -1.0, true);
assertEquals(-1.0, left.getDutyCycle(), 1e-9);
assertEquals(-1.0, right.getDutyCycle(), 1e-9);
assertEquals(-1.0, left.getThrottle(), 1e-9);
assertEquals(-1.0, right.getThrottle(), 1e-9);
// Backward left turn
drive.tankDrive(-0.5, -1.0, true);
assertEquals(-0.25, left.getDutyCycle(), 1e-9);
assertEquals(-1.0, right.getDutyCycle(), 1e-9);
assertEquals(-0.25, left.getThrottle(), 1e-9);
assertEquals(-1.0, right.getThrottle(), 1e-9);
// Backward right turn
drive.tankDrive(-1.0, -0.5, true);
assertEquals(-1.0, left.getDutyCycle(), 1e-9);
assertEquals(-0.25, right.getDutyCycle(), 1e-9);
assertEquals(-1.0, left.getThrottle(), 1e-9);
assertEquals(-0.25, right.getThrottle(), 1e-9);
}
}