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

[wpilibc] Transition C++ classes to units::second_t (#3396)

Browse Source 
A lot of these are breaking changes. frc::Timer was replaced with the
contents of frc2::Timer. The others were in-place argument changes or
removing deprecated non-unit overloads.
This commit is contained in:
Tyler Veness
2021-05-28 22:06:59 -07:00
committed by GitHub
parent 827b17a52b
commit e09293a15e
99 changed files with 503 additions and 790 deletions
Download Patch File Download Diff File Expand all files Collapse all files

40
wpilibcIntegrationTests/src/main/native/cpp/MotorInvertingTest.cpp
View File

@@ -2,6 +2,8 @@
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <units/time.h>
#include "TestBench.h"
#include "frc/Encoder.h"
#include "frc/Timer.h"
@@ -13,8 +15,10 @@
using namespace frc;
enum MotorInvertingTestType { TEST_VICTOR, TEST_JAGUAR, TEST_TALON };
static const double motorSpeed = 0.15;
static const double delayTime = 0.5;
static constexpr double kMotorSpeed = 0.15;
static constexpr auto kDelayTime = 0.5_s;
std::ostream& operator<<(std::ostream& os, MotorInvertingTestType const& type) {
switch (type) {
case TEST_VICTOR:
@@ -73,15 +77,15 @@ class MotorInvertingTest
TEST_P(MotorInvertingTest, InvertingPositive) {
Reset();
m_motorController->Set(motorSpeed);
m_motorController->Set(kMotorSpeed);
Wait(delayTime);
Wait(kDelayTime);
bool initDirection = m_encoder->GetDirection();
m_motorController->SetInverted(true);
m_motorController->Set(motorSpeed);
m_motorController->Set(kMotorSpeed);
Wait(delayTime);
Wait(kDelayTime);
EXPECT_TRUE(m_encoder->GetDirection() != initDirection)
<< "Inverting with Positive value does not change direction";
@@ -93,15 +97,15 @@ TEST_P(MotorInvertingTest, InvertingNegative) {
Reset();
m_motorController->SetInverted(false);
m_motorController->Set(-motorSpeed);
m_motorController->Set(-kMotorSpeed);
Wait(delayTime);
Wait(kDelayTime);
bool initDirection = m_encoder->GetDirection();
m_motorController->SetInverted(true);
m_motorController->Set(-motorSpeed);
m_motorController->Set(-kMotorSpeed);
Wait(delayTime);
Wait(kDelayTime);
EXPECT_TRUE(m_encoder->GetDirection() != initDirection)
<< "Inverting with Negative value does not change direction";
@@ -113,15 +117,15 @@ TEST_P(MotorInvertingTest, InvertingSwitchingPosToNeg) {
Reset();
m_motorController->SetInverted(false);
m_motorController->Set(motorSpeed);
m_motorController->Set(kMotorSpeed);
Wait(delayTime);
Wait(kDelayTime);
bool initDirection = m_encoder->GetDirection();
m_motorController->SetInverted(true);
m_motorController->Set(-motorSpeed);
m_motorController->Set(-kMotorSpeed);
Wait(delayTime);
Wait(kDelayTime);
EXPECT_TRUE(m_encoder->GetDirection() == initDirection)
<< "Inverting with Switching value does change direction";
@@ -133,15 +137,15 @@ TEST_P(MotorInvertingTest, InvertingSwitchingNegToPos) {
Reset();
m_motorController->SetInverted(false);
m_motorController->Set(-motorSpeed);
m_motorController->Set(-kMotorSpeed);
Wait(delayTime);
Wait(kDelayTime);
bool initDirection = m_encoder->GetDirection();
m_motorController->SetInverted(true);
m_motorController->Set(motorSpeed);
m_motorController->Set(kMotorSpeed);
Wait(delayTime);
Wait(kDelayTime);
EXPECT_TRUE(m_encoder->GetDirection() == initDirection)
<< "Inverting with Switching value does change direction";