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

[wpilib] Rewrite DutyCycleEncoder and AnalogEncoder (#6398)

Browse Source
This commit is contained in:
Thad House
2024-05-24 11:53:56 -07:00
committed by GitHub
parent 294c9946ae
commit d05c7c125b
18 changed files with 638 additions and 883 deletions
Download Patch File Download Diff File Expand all files Collapse all files

43
wpilibc/src/test/native/cpp/simulation/DutyCycleEncoderSimTest.cpp
View File

@@ -15,42 +15,14 @@ namespace frc::sim {
TEST(DutyCycleEncoderSimTest, Set) {
HAL_Initialize(500, 0);
DutyCycleEncoder enc{0};
DutyCycleEncoder enc{0, 10, 0};
DutyCycleEncoderSim sim(enc);
constexpr units::turn_t kTestValue{5.67};
constexpr double kTestValue{5.67};
sim.Set(kTestValue);
EXPECT_EQ(kTestValue, enc.Get());
}
TEST(DutyCycleEncoderSimTest, SetDistance) {
HAL_Initialize(500, 0);
DutyCycleEncoder enc{0};
DutyCycleEncoderSim sim(enc);
sim.SetDistance(19.1);
EXPECT_EQ(19.1, enc.GetDistance());
}
TEST(DutyCycleEncoderSimTest, SetDistancePerRotation) {
HAL_Initialize(500, 0);
DutyCycleEncoder enc{0};
DutyCycleEncoderSim sim(enc);
sim.Set(units::turn_t{1.5});
enc.SetDistancePerRotation(42);
EXPECT_EQ(63, enc.GetDistance());
}
TEST(DutyCycleEncoderSimTest, SetAbsolutePosition) {
HAL_Initialize(500, 0);
DutyCycleEncoder enc{0};
DutyCycleEncoderSim sim(enc);
sim.SetAbsolutePosition(0.75);
EXPECT_EQ(0.75, enc.GetAbsolutePosition());
}
TEST(DutyCycleEncoderSimTest, SetIsConnected) {
HAL_Initialize(500, 0);
@@ -62,15 +34,4 @@ TEST(DutyCycleEncoderSimTest, SetIsConnected) {
EXPECT_FALSE(enc.IsConnected());
}
TEST(DutyCycleEncoderSimTest, Reset) {
HAL_Initialize(500, 0);
DutyCycleEncoder enc{0};
DutyCycleEncoderSim sim(enc);
sim.SetDistance(2.5);
EXPECT_EQ(2.5, enc.GetDistance());
enc.Reset();
EXPECT_EQ(0, enc.GetDistance());
}
} // namespace frc::sim