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[sim] Add joystick simulation support (#2595)

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This adds joystick functions to DriverStationSim, and new GenericHIDSim,
JoystickSim, and XboxControllerSim classes.
This commit is contained in:
Peter Johnson
2020-07-15 00:33:57 -07:00
committed by GitHub
parent b06ddcdd86
commit b9feb81226
19 changed files with 1979 additions and 19 deletions
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47
wpilibj/src/test/java/edu/wpi/first/wpilibj/JoystickTest.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj;
import org.junit.jupiter.api.Test;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.simulation.JoystickSim;
import static org.junit.jupiter.api.Assertions.assertEquals;
class JoystickTest {
@Test
void testGetX() {
HAL.initialize(500, 0);
Joystick joy = new Joystick(1);
JoystickSim joysim = new JoystickSim(joy);
joysim.setX(0.25);
joysim.notifyNewData();
assertEquals(0.25, joy.getX(), 0.001);
joysim.setX(0);
joysim.notifyNewData();
assertEquals(0.0, joy.getX(), 0.001);
}
@Test
void testGetY() {
HAL.initialize(500, 0);
Joystick joy = new Joystick(1);
JoystickSim joysim = new JoystickSim(joy);
joysim.setY(0.25);
joysim.notifyNewData();
assertEquals(0.25, joy.getY(), 0.001);
joysim.setY(0);
joysim.notifyNewData();
assertEquals(0.0, joy.getY(), 0.001);
}
}

86
wpilibj/src/test/java/edu/wpi/first/wpilibj/XboxControllerTest.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj;
import org.junit.jupiter.api.Test;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.simulation.XboxControllerSim;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
class XboxControllerTest {
@Test
void testGetX() {
HAL.initialize(500, 0);
XboxController joy = new XboxController(2);
XboxControllerSim joysim = new XboxControllerSim(joy);
joysim.setX(XboxController.Hand.kLeft, 0.35);
joysim.setX(XboxController.Hand.kRight, 0.45);
joysim.notifyNewData();
assertEquals(0.35, joy.getX(XboxController.Hand.kLeft), 0.001);
assertEquals(0.45, joy.getX(XboxController.Hand.kRight), 0.001);
}
@Test
void testGetBumper() {
HAL.initialize(500, 0);
XboxController joy = new XboxController(2);
XboxControllerSim joysim = new XboxControllerSim(joy);
joysim.setBumper(XboxController.Hand.kLeft, false);
joysim.setBumper(XboxController.Hand.kRight, true);
joysim.notifyNewData();
assertFalse(joy.getBumper(XboxController.Hand.kLeft));
assertTrue(joy.getBumper(XboxController.Hand.kRight));
// need to call pressed and released to clear flags
joy.getBumperPressed(XboxController.Hand.kLeft);
joy.getBumperReleased(XboxController.Hand.kLeft);
joy.getBumperPressed(XboxController.Hand.kRight);
joy.getBumperReleased(XboxController.Hand.kRight);
joysim.setBumper(XboxController.Hand.kLeft, true);
joysim.setBumper(XboxController.Hand.kRight, false);
joysim.notifyNewData();
assertTrue(joy.getBumper(XboxController.Hand.kLeft));
assertTrue(joy.getBumperPressed(XboxController.Hand.kLeft));
assertFalse(joy.getBumperReleased(XboxController.Hand.kLeft));
assertFalse(joy.getBumper(XboxController.Hand.kRight));
assertFalse(joy.getBumperPressed(XboxController.Hand.kRight));
assertTrue(joy.getBumperReleased(XboxController.Hand.kRight));
}
@Test
void testGetAButton() {
HAL.initialize(500, 0);
XboxController joy = new XboxController(2);
XboxControllerSim joysim = new XboxControllerSim(joy);
joysim.setAButton(false);
joysim.notifyNewData();
assertFalse(joy.getAButton());
// need to call pressed and released to clear flags
joy.getAButtonPressed();
joy.getAButtonReleased();
joysim.setAButton(true);
joysim.notifyNewData();
assertTrue(joy.getAButton());
assertTrue(joy.getAButtonPressed());
assertFalse(joy.getAButtonReleased());
joysim.setAButton(false);
joysim.notifyNewData();
assertFalse(joy.getAButton());
assertFalse(joy.getAButtonPressed());
assertTrue(joy.getAButtonReleased());
}
}