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[wpilib][hal] PWM Raw using microseconds (#5283)

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Co-authored-by: Joe <sciencewhiz@users.noreply.github.com>
This commit is contained in:
Thad House
2023-06-22 19:43:16 -07:00
committed by GitHub
parent 1fca519fb4
commit c1a01569b4
56 changed files with 374 additions and 466 deletions
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12
wpilibc/src/test/native/cpp/simulation/PWMSimTest.cpp
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@@ -26,7 +26,7 @@ TEST(PWMSimTest, Initialize) {
EXPECT_TRUE(sim.GetInitialized());
}
TEST(PWMSimTest, SetRawValue) {
TEST(PWMSimTest, SetPulseTime) {
HAL_Initialize(500, 0);
PWMSim sim{0};
@@ -35,13 +35,13 @@ TEST(PWMSimTest, SetRawValue) {
IntCallback callback;
auto cb = sim.RegisterRawValueCallback(callback.GetCallback(), false);
auto cb = sim.RegisterPulseMicrosecondCallback(callback.GetCallback(), false);
PWM pwm{0};
sim.SetRawValue(229);
EXPECT_EQ(229, sim.GetRawValue());
EXPECT_EQ(229, pwm.GetRaw());
sim.SetPulseMicrosecond(2290);
EXPECT_EQ(2290, sim.GetPulseMicrosecond());
EXPECT_EQ(2290, std::lround(pwm.GetPulseTime().value()));
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(229, callback.GetLastValue());
EXPECT_EQ(2290, callback.GetLastValue());
}
TEST(PWMSimTest, SetSpeed) {