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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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31
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/PWMMotorControllerSimTest.java Normal file
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@@ -0,0 +1,31 @@
// 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.
package edu.wpi.first.wpilibj.simulation;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import org.junit.jupiter.api.Test;
class PWMMotorControllerSimTest {
@Test
void testMotor() {
HAL.initialize(500, 0);
try (Spark spark = new Spark(0)) {
PWMMotorControllerSim sim = new PWMMotorControllerSim(spark);
spark.set(0);
assertEquals(0, sim.getSpeed());
spark.set(0.354);
assertEquals(0.354, sim.getSpeed());
spark.set(-0.785);
assertEquals(-0.785, sim.getSpeed());
}
}
}

141
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/PWMSimTest.java
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@@ -11,13 +11,10 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.PWM;
import edu.wpi.first.wpilibj.simulation.testutils.BooleanCallback;
import edu.wpi.first.wpilibj.simulation.testutils.DoubleCallback;
import edu.wpi.first.wpilibj.simulation.testutils.IntCallback;
import org.junit.jupiter.api.Test;
class PWMSimTest {
private static final double PWM_STEP_SIZE = 1.0 / 2000.0;
@Test
void testInitialize() {
HAL.initialize(500, 0);
@@ -55,119 +52,7 @@ class PWMSimTest {
}
@Test
void testSetSpeed() {
HAL.initialize(500, 0);
PWMSim sim = new PWMSim(0);
sim.resetData();
assertFalse(sim.getInitialized());
DoubleCallback callback = new DoubleCallback();
try (CallbackStore cb = sim.registerSpeedCallback(callback, false);
PWM pwm = new PWM(0)) {
double kTestValue = 0.3504;
pwm.setSpeed(kTestValue);
assertEquals(kTestValue, sim.getSpeed(), PWM_STEP_SIZE);
assertEquals(kTestValue, pwm.getSpeed(), PWM_STEP_SIZE);
assertTrue(callback.wasTriggered());
assertEquals(kTestValue, callback.getSetValue(), PWM_STEP_SIZE);
assertEquals(kTestValue / 2 + 0.5, sim.getPosition(), PWM_STEP_SIZE * 2);
assertEquals(kTestValue / 2 + 0.5, pwm.getPosition(), PWM_STEP_SIZE * 2);
kTestValue = -1.0;
pwm.setSpeed(kTestValue);
assertEquals(kTestValue, sim.getSpeed(), PWM_STEP_SIZE);
assertEquals(kTestValue, pwm.getSpeed(), PWM_STEP_SIZE);
assertEquals(0.0, sim.getPosition(), PWM_STEP_SIZE);
assertEquals(0.0, pwm.getPosition(), PWM_STEP_SIZE);
kTestValue = 0.0;
pwm.setSpeed(kTestValue);
assertEquals(kTestValue, sim.getSpeed(), PWM_STEP_SIZE);
assertEquals(kTestValue, pwm.getSpeed(), PWM_STEP_SIZE);
assertEquals(0.5, sim.getPosition(), PWM_STEP_SIZE);
assertEquals(0.5, pwm.getPosition(), PWM_STEP_SIZE);
kTestValue = 1.0;
pwm.setSpeed(kTestValue);
assertEquals(kTestValue, sim.getSpeed(), PWM_STEP_SIZE);
assertEquals(kTestValue, pwm.getSpeed(), PWM_STEP_SIZE);
assertEquals(kTestValue, sim.getPosition(), PWM_STEP_SIZE);
assertEquals(kTestValue, pwm.getPosition(), PWM_STEP_SIZE);
kTestValue = 1.1;
pwm.setSpeed(kTestValue);
assertEquals(1.0, sim.getSpeed(), PWM_STEP_SIZE);
assertEquals(1.0, pwm.getSpeed(), PWM_STEP_SIZE);
assertEquals(1.0, sim.getPosition(), PWM_STEP_SIZE);
assertEquals(1.0, pwm.getPosition(), PWM_STEP_SIZE);
}
}
@Test
void testSetPosition() {
HAL.initialize(500, 0);
PWMSim sim = new PWMSim(0);
sim.resetData();
assertFalse(sim.getInitialized());
DoubleCallback callback = new DoubleCallback();
try (CallbackStore cb = sim.registerPositionCallback(callback, false);
PWM pwm = new PWM(0)) {
double kTestValue = 0.3504;
pwm.setPosition(kTestValue);
assertEquals(kTestValue, sim.getPosition(), PWM_STEP_SIZE);
assertEquals(kTestValue, pwm.getPosition(), PWM_STEP_SIZE);
assertTrue(callback.wasTriggered());
assertEquals(kTestValue, callback.getSetValue(), PWM_STEP_SIZE);
assertEquals(kTestValue * 2 - 1.0, sim.getSpeed(), PWM_STEP_SIZE * 2);
assertEquals(kTestValue * 2 - 1.0, pwm.getSpeed(), PWM_STEP_SIZE * 2);
kTestValue = -1.0;
pwm.setPosition(kTestValue);
assertEquals(0.0, sim.getPosition(), PWM_STEP_SIZE);
assertEquals(0.0, pwm.getPosition(), PWM_STEP_SIZE);
assertEquals(kTestValue, sim.getSpeed(), PWM_STEP_SIZE);
assertEquals(kTestValue, pwm.getSpeed(), PWM_STEP_SIZE);
kTestValue = 0.0;
pwm.setPosition(kTestValue);
assertEquals(kTestValue, sim.getPosition(), PWM_STEP_SIZE);
assertEquals(kTestValue, pwm.getPosition(), PWM_STEP_SIZE);
assertEquals(-1.0, sim.getSpeed(), PWM_STEP_SIZE);
assertEquals(-1.0, pwm.getSpeed(), PWM_STEP_SIZE);
kTestValue = 1.0;
pwm.setPosition(kTestValue);
assertEquals(kTestValue, sim.getPosition(), PWM_STEP_SIZE);
assertEquals(kTestValue, pwm.getPosition(), PWM_STEP_SIZE);
assertEquals(kTestValue, sim.getSpeed(), PWM_STEP_SIZE);
assertEquals(kTestValue, pwm.getSpeed(), PWM_STEP_SIZE);
kTestValue = 1.1;
pwm.setPosition(kTestValue);
assertEquals(1.0, sim.getPosition(), PWM_STEP_SIZE);
assertEquals(1.0, pwm.getPosition(), PWM_STEP_SIZE);
assertEquals(1.0, sim.getSpeed(), PWM_STEP_SIZE);
assertEquals(1.0, pwm.getSpeed(), PWM_STEP_SIZE);
}
}
@Test
void testSetPeriodScale() {
void testSetOutputPeriod() {
HAL.initialize(500, 0);
PWMSim sim = new PWMSim(0);
@@ -176,30 +61,12 @@ class PWMSimTest {
IntCallback callback = new IntCallback();
try (CallbackStore cb = sim.registerPeriodScaleCallback(callback, false);
try (CallbackStore cb = sim.registerOutputPeriodCallback(callback, false);
PWM pwm = new PWM(0)) {
sim.setPeriodScale(3504);
assertEquals(3504, sim.getPeriodScale());
sim.setOutputPeriod(3504);
assertEquals(3504, sim.getOutputPeriod());
assertTrue(callback.wasTriggered());
assertEquals(3504, callback.getSetValue());
}
}
@Test
void testSetZeroLatch() {
HAL.initialize(500, 0);
PWMSim sim = new PWMSim(0);
sim.resetData();
assertFalse(sim.getInitialized());
BooleanCallback callback = new BooleanCallback();
try (CallbackStore cb = sim.registerZeroLatchCallback(callback, false);
PWM pwm = new PWM(0)) {
pwm.setZeroLatch();
assertTrue(callback.wasTriggered());
}
}
}

37
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ServoSimTest.java Normal file
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@@ -0,0 +1,37 @@
// 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.
package edu.wpi.first.wpilibj.simulation;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.Servo;
import org.junit.jupiter.api.Test;
class ServoSimTest {
@Test
void testServo() {
HAL.initialize(500, 0);
try (Servo servo = new Servo(0)) {
ServoSim sim = new ServoSim(servo);
servo.set(0);
assertEquals(0, sim.getPosition());
servo.set(0.354);
assertEquals(0.354, sim.getPosition());
servo.setAngle(10);
assertEquals(10, sim.getAngle());
servo.setAngle(90);
assertEquals(90, sim.getAngle());
servo.setAngle(170);
assertEquals(170, sim.getAngle());
}
}
}