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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
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/PWMSimTest.java
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@@ -33,7 +33,7 @@ class PWMSimTest {
}
@Test
void testSetRawValue() {
void testSetPulseTime() {
HAL.initialize(500, 0);
PWMSim sim = new PWMSim(0);
@@ -42,13 +42,13 @@ class PWMSimTest {
IntCallback callback = new IntCallback();
try (CallbackStore cb = sim.registerRawValueCallback(callback, false);
try (CallbackStore cb = sim.registerPulseMicrosecondCallback(callback, false);
PWM pwm = new PWM(0)) {
sim.setRawValue(229);
assertEquals(229, sim.getRawValue());
assertEquals(229, pwm.getRaw());
sim.setPulseMicrosecond(2290);
assertEquals(2290, sim.getPulseMicrosecond());
assertEquals(2290, pwm.getPulseTimeMicroseconds());
assertTrue(callback.wasTriggered());
assertEquals(229, callback.getSetValue());
assertEquals(2290, callback.getSetValue());
}
}