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[commands, wpimath] Remove Mecanum/SwerveControllerCommand and HolonomicDriveController (#8119)

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This commit is contained in:
Gold856
2025-08-01 02:05:42 -04:00
committed by GitHub
parent b251d16ef7
commit e0e774abde
51 changed files with 0 additions and 5642 deletions
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64
wpilibcExamples/src/test/cpp/examples/MecanumControllerCommand/cpp/MecanumControllerCommandTest.cpp
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@@ -1,64 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// 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 <thread>
#include <frc/simulation/DriverStationSim.h>
#include <frc/simulation/SimHooks.h>
#include <gtest/gtest.h>
#include <units/time.h>
#include "Robot.h"
class MecanumControllerCommandTest : public testing::Test {
Robot m_robot;
std::optional<std::thread> m_thread;
bool joystickWarning;
public:
void SetUp() override {
frc::sim::PauseTiming();
joystickWarning = frc::DriverStation::IsJoystickConnectionWarningSilenced();
frc::DriverStation::SilenceJoystickConnectionWarning(true);
m_thread = std::thread([&] { m_robot.StartCompetition(); });
frc::sim::StepTiming(0.0_ms); // Wait for Notifiers
}
void TearDown() override {
m_robot.EndCompetition();
m_thread->join();
frc::sim::DriverStationSim::ResetData();
frc::DriverStation::SilenceJoystickConnectionWarning(joystickWarning);
}
};
TEST_F(MecanumControllerCommandTest, Match) {
// auto
frc::sim::DriverStationSim::SetAutonomous(true);
frc::sim::DriverStationSim::SetEnabled(true);
frc::sim::DriverStationSim::NotifyNewData();
frc::sim::StepTiming(15_s);
// brief disabled period- exact duration shouldn't matter
frc::sim::DriverStationSim::SetAutonomous(false);
frc::sim::DriverStationSim::SetEnabled(false);
frc::sim::DriverStationSim::NotifyNewData();
frc::sim::StepTiming(3_s);
// teleop
frc::sim::DriverStationSim::SetAutonomous(false);
frc::sim::DriverStationSim::SetEnabled(true);
frc::sim::DriverStationSim::NotifyNewData();
frc::sim::StepTiming(135_s);
// end of match
frc::sim::DriverStationSim::SetAutonomous(false);
frc::sim::DriverStationSim::SetEnabled(false);
frc::sim::DriverStationSim::NotifyNewData();
}

16
wpilibcExamples/src/test/cpp/examples/MecanumControllerCommand/cpp/main.cpp
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@@ -1,16 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// 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 <gtest/gtest.h>
#include <hal/HALBase.h>
/**
* Runs all unit tests.
*/
int main(int argc, char** argv) {
HAL_Initialize(500, 0);
::testing::InitGoogleTest(&argc, argv);
int ret = RUN_ALL_TESTS();
return ret;
}

69
wpilibcExamples/src/test/cpp/examples/SwerveControllerCommand/cpp/SwerveControllerCommandTest.cpp
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@@ -1,69 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// 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 <iostream>
#include <thread>
#include <frc/simulation/DriverStationSim.h>
#include <frc/simulation/SimHooks.h>
#include <gtest/gtest.h>
#include <units/time.h>
#include "Robot.h"
class SwerveControllerCommandTest : public testing::Test {
Robot m_robot;
std::optional<std::thread> m_thread;
bool joystickWarning;
public:
void SetUp() override {
frc::sim::PauseTiming();
joystickWarning = frc::DriverStation::IsJoystickConnectionWarningSilenced();
frc::DriverStation::SilenceJoystickConnectionWarning(true);
m_thread = std::thread([&] { m_robot.StartCompetition(); });
frc::sim::StepTiming(0.0_ms); // Wait for Notifiers
}
void TearDown() override {
m_robot.EndCompetition();
m_thread->join();
frc::sim::DriverStationSim::ResetData();
frc::DriverStation::SilenceJoystickConnectionWarning(joystickWarning);
}
};
TEST_F(SwerveControllerCommandTest, Match) {
std::cerr << "autonomous" << std::endl;
// auto
frc::sim::DriverStationSim::SetAutonomous(true);
frc::sim::DriverStationSim::SetEnabled(true);
frc::sim::DriverStationSim::NotifyNewData();
frc::sim::StepTiming(15_s);
// brief disabled period- exact duration shouldn't matter
std::cerr << "mid disabled" << std::endl;
frc::sim::DriverStationSim::SetAutonomous(false);
frc::sim::DriverStationSim::SetEnabled(false);
frc::sim::DriverStationSim::NotifyNewData();
frc::sim::StepTiming(3_s);
// teleop
std::cerr << "teleop" << std::endl;
frc::sim::DriverStationSim::SetAutonomous(false);
frc::sim::DriverStationSim::SetEnabled(true);
frc::sim::DriverStationSim::NotifyNewData();
frc::sim::StepTiming(135_s);
// end of match
std::cerr << "end of match" << std::endl;
frc::sim::DriverStationSim::SetAutonomous(false);
frc::sim::DriverStationSim::SetEnabled(false);
frc::sim::DriverStationSim::NotifyNewData();
}

16
wpilibcExamples/src/test/cpp/examples/SwerveControllerCommand/cpp/main.cpp
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@@ -1,16 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// 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 <gtest/gtest.h>
#include <hal/HALBase.h>
/**
* Runs all unit tests.
*/
int main(int argc, char** argv) {
HAL_Initialize(500, 0);
::testing::InitGoogleTest(&argc, argv);
int ret = RUN_ALL_TESTS();
return ret;
}