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[hal, wpilib] PWM Rewrite (#7845)

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The HAL will only contain the output period and the raw microseconds. Higher level things such as SimDevice can handle everything else.
This commit is contained in:
Thad House
2025-03-20 19:23:22 -07:00
committed by GitHub
parent 2e21a41f87
commit e2cc9e0059
96 changed files with 1037 additions and 2453 deletions
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26
wpilibc/src/test/native/cpp/simulation/PWMMotorControlllerSimTest.cpp Normal file
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@@ -0,0 +1,26 @@
// 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 "frc/simulation/PWMMotorControllerSim.h" // NOLINT(build/include_order)
#include <gtest/gtest.h>
#include <hal/HAL.h>
#include "frc/motorcontrol/Spark.h"
namespace frc::sim {
TEST(PWMMotorControllerSimTest, TestMotor) {
frc::Spark spark{0};
frc::sim::PWMMotorControllerSim sim{spark};
spark.Set(0);
EXPECT_EQ(0, sim.GetSpeed());
spark.Set(0.354);
EXPECT_EQ(0.354, sim.GetSpeed());
spark.Set(-0.785);
EXPECT_EQ(-0.785, sim.GetSpeed());
}
} // namespace frc::sim

134
wpilibc/src/test/native/cpp/simulation/PWMSimTest.cpp
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@@ -12,8 +12,6 @@
namespace frc::sim {
constexpr double kPWMStepSize = 1.0 / 2000.0;
TEST(PWMSimTest, Initialize) {
HAL_Initialize(500, 0);
@@ -46,115 +44,7 @@ TEST(PWMSimTest, SetPulseTime) {
EXPECT_EQ(2290, callback.GetLastValue());
}
TEST(PWMSimTest, SetSpeed) {
HAL_Initialize(500, 0);
PWMSim sim{0};
sim.ResetData();
EXPECT_FALSE(sim.GetInitialized());
DoubleCallback callback;
auto cb = sim.RegisterSpeedCallback(callback.GetCallback(), false);
PWM pwm{0};
double kTestValue = 0.3504;
pwm.SetSpeed(kTestValue);
EXPECT_NEAR(kTestValue, sim.GetSpeed(), kPWMStepSize);
EXPECT_NEAR(kTestValue, pwm.GetSpeed(), kPWMStepSize);
EXPECT_TRUE(callback.WasTriggered());
EXPECT_NEAR(kTestValue, callback.GetLastValue(), kPWMStepSize);
EXPECT_NEAR(kTestValue / 2 + 0.5, sim.GetPosition(), kPWMStepSize * 2);
EXPECT_NEAR(kTestValue / 2 + 0.5, pwm.GetPosition(), kPWMStepSize * 2);
kTestValue = -1.0;
pwm.SetSpeed(kTestValue);
EXPECT_NEAR(kTestValue, sim.GetSpeed(), kPWMStepSize);
EXPECT_NEAR(kTestValue, pwm.GetSpeed(), kPWMStepSize);
EXPECT_NEAR(0.0, sim.GetPosition(), kPWMStepSize);
EXPECT_NEAR(0.0, pwm.GetPosition(), kPWMStepSize);
kTestValue = 0.0;
pwm.SetSpeed(kTestValue);
EXPECT_NEAR(kTestValue, sim.GetSpeed(), kPWMStepSize);
EXPECT_NEAR(kTestValue, pwm.GetSpeed(), kPWMStepSize);
EXPECT_NEAR(0.5, sim.GetPosition(), kPWMStepSize);
EXPECT_NEAR(0.5, pwm.GetPosition(), kPWMStepSize);
kTestValue = 1.0;
pwm.SetSpeed(kTestValue);
EXPECT_NEAR(kTestValue, sim.GetSpeed(), kPWMStepSize);
EXPECT_NEAR(kTestValue, pwm.GetSpeed(), kPWMStepSize);
EXPECT_NEAR(kTestValue, sim.GetPosition(), kPWMStepSize);
EXPECT_NEAR(kTestValue, pwm.GetPosition(), kPWMStepSize);
kTestValue = 1.1;
pwm.SetSpeed(kTestValue);
EXPECT_NEAR(1.0, sim.GetSpeed(), kPWMStepSize);
EXPECT_NEAR(1.0, pwm.GetSpeed(), kPWMStepSize);
EXPECT_NEAR(1.0, sim.GetPosition(), kPWMStepSize);
EXPECT_NEAR(1.0, pwm.GetPosition(), kPWMStepSize);
}
TEST(PWMSimTest, SetPosition) {
HAL_Initialize(500, 0);
PWMSim sim{0};
sim.ResetData();
EXPECT_FALSE(sim.GetInitialized());
DoubleCallback callback;
auto cb = sim.RegisterPositionCallback(callback.GetCallback(), false);
PWM pwm{0};
double kTestValue = 0.3504;
pwm.SetPosition(kTestValue);
EXPECT_NEAR(kTestValue, sim.GetPosition(), kPWMStepSize);
EXPECT_NEAR(kTestValue, pwm.GetPosition(), kPWMStepSize);
EXPECT_TRUE(callback.WasTriggered());
EXPECT_NEAR(kTestValue, callback.GetLastValue(), kPWMStepSize);
EXPECT_NEAR(kTestValue * 2 - 1.0, sim.GetSpeed(), kPWMStepSize * 2);
EXPECT_NEAR(kTestValue * 2 - 1.0, pwm.GetSpeed(), kPWMStepSize * 2);
kTestValue = -1.0;
pwm.SetPosition(kTestValue);
EXPECT_NEAR(0.0, sim.GetPosition(), kPWMStepSize);
EXPECT_NEAR(0.0, pwm.GetPosition(), kPWMStepSize);
EXPECT_NEAR(kTestValue, sim.GetSpeed(), kPWMStepSize);
EXPECT_NEAR(kTestValue, pwm.GetSpeed(), kPWMStepSize);
kTestValue = 0.0;
pwm.SetPosition(kTestValue);
EXPECT_NEAR(kTestValue, sim.GetPosition(), kPWMStepSize);
EXPECT_NEAR(kTestValue, pwm.GetPosition(), kPWMStepSize);
EXPECT_NEAR(-1.0, sim.GetSpeed(), kPWMStepSize);
EXPECT_NEAR(-1.0, pwm.GetSpeed(), kPWMStepSize);
kTestValue = 1.0;
pwm.SetPosition(kTestValue);
EXPECT_NEAR(kTestValue, sim.GetPosition(), kPWMStepSize);
EXPECT_NEAR(kTestValue, pwm.GetPosition(), kPWMStepSize);
EXPECT_NEAR(kTestValue, sim.GetSpeed(), kPWMStepSize);
EXPECT_NEAR(kTestValue, pwm.GetSpeed(), kPWMStepSize);
kTestValue = 1.1;
pwm.SetPosition(kTestValue);
EXPECT_NEAR(1.0, sim.GetPosition(), kPWMStepSize);
EXPECT_NEAR(1.0, pwm.GetPosition(), kPWMStepSize);
EXPECT_NEAR(1.0, sim.GetSpeed(), kPWMStepSize);
EXPECT_NEAR(1.0, pwm.GetSpeed(), kPWMStepSize);
}
TEST(PWMSimTest, SetPeriodScale) {
TEST(PWMSimTest, SetOutputPeriod) {
HAL_Initialize(500, 0);
PWMSim sim{0};
@@ -163,28 +53,12 @@ TEST(PWMSimTest, SetPeriodScale) {
IntCallback callback;
auto cb = sim.RegisterPeriodScaleCallback(callback.GetCallback(), false);
auto cb = sim.RegisterOutputPeriodCallback(callback.GetCallback(), false);
PWM pwm{0};
sim.SetPeriodScale(3504);
EXPECT_EQ(3504, sim.GetPeriodScale());
sim.SetOutputPeriod(3504);
EXPECT_EQ(3504, sim.GetOutputPeriod());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(3504, callback.GetLastValue());
}
TEST(PWMSimTest, SetZeroLatch) {
HAL_Initialize(500, 0);
PWMSim sim{0};
sim.ResetData();
EXPECT_FALSE(sim.GetInitialized());
BooleanCallback callback;
auto cb = sim.RegisterZeroLatchCallback(callback.GetCallback(), false);
PWM pwm{0};
pwm.SetZeroLatch();
EXPECT_TRUE(callback.WasTriggered());
}
} // namespace frc::sim

32
wpilibc/src/test/native/cpp/simulation/ServoSimTest.cpp Normal file
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@@ -0,0 +1,32 @@
// 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 "frc/simulation/ServoSim.h" // NOLINT(build/include_order)
#include <gtest/gtest.h>
#include <hal/HAL.h>
#include "frc/Servo.h"
namespace frc::sim {
TEST(ServoSimTest, TestServo) {
frc::Servo servo{0};
frc::sim::ServoSim sim{servo};
servo.Set(0);
EXPECT_EQ(0, sim.GetPosition());
servo.Set(0.354);
EXPECT_EQ(0.354, sim.GetPosition());
servo.SetAngle(10);
EXPECT_EQ(10, sim.GetAngle());
servo.SetAngle(90);
EXPECT_EQ(90, sim.GetAngle());
servo.SetAngle(170);
EXPECT_EQ(170, sim.GetAngle());
}
} // namespace frc::sim