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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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8
wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/armsimulation/ArmSimulationTest.java
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@@ -13,7 +13,7 @@ import edu.wpi.first.wpilibj.Preferences;
import edu.wpi.first.wpilibj.simulation.DriverStationSim;
import edu.wpi.first.wpilibj.simulation.EncoderSim;
import edu.wpi.first.wpilibj.simulation.JoystickSim;
import edu.wpi.first.wpilibj.simulation.PWMSim;
import edu.wpi.first.wpilibj.simulation.PWMMotorControllerSim;
import edu.wpi.first.wpilibj.simulation.RoboRioSim;
import edu.wpi.first.wpilibj.simulation.SimHooks;
import org.junit.jupiter.api.AfterEach;
@@ -27,7 +27,7 @@ class ArmSimulationTest {
private Robot m_robot;
private Thread m_thread;
private PWMSim m_motorSim;
private PWMMotorControllerSim m_motorSim;
private EncoderSim m_encoderSim;
private JoystickSim m_joystickSim;
@@ -39,7 +39,7 @@ class ArmSimulationTest {
m_robot = new Robot();
m_thread = new Thread(m_robot::startCompetition);
m_encoderSim = EncoderSim.createForChannel(Constants.kEncoderAChannel);
m_motorSim = new PWMSim(Constants.kMotorPort);
m_motorSim = new PWMMotorControllerSim(Constants.kMotorPort);
m_joystickSim = new JoystickSim(Constants.kJoystickPort);
m_thread.start();
@@ -57,7 +57,6 @@ class ArmSimulationTest {
}
m_robot.close();
m_encoderSim.resetData();
m_motorSim.resetData();
Preferences.remove(Constants.kArmPKey);
Preferences.remove(Constants.kArmPositionKey);
Preferences.removeAll();
@@ -79,7 +78,6 @@ class ArmSimulationTest {
DriverStationSim.setEnabled(true);
DriverStationSim.notifyNewData();
assertTrue(m_motorSim.getInitialized());
assertTrue(m_encoderSim.getInitialized());
}

8
wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/ElevatorSimulationTest.java
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@@ -11,7 +11,7 @@ import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.simulation.DriverStationSim;
import edu.wpi.first.wpilibj.simulation.EncoderSim;
import edu.wpi.first.wpilibj.simulation.JoystickSim;
import edu.wpi.first.wpilibj.simulation.PWMSim;
import edu.wpi.first.wpilibj.simulation.PWMMotorControllerSim;
import edu.wpi.first.wpilibj.simulation.RoboRioSim;
import edu.wpi.first.wpilibj.simulation.SimHooks;
import org.junit.jupiter.api.AfterEach;
@@ -24,7 +24,7 @@ class ElevatorSimulationTest {
private Robot m_robot;
private Thread m_thread;
private PWMSim m_motorSim;
private PWMMotorControllerSim m_motorSim;
private EncoderSim m_encoderSim;
private JoystickSim m_joystickSim;
@@ -36,7 +36,7 @@ class ElevatorSimulationTest {
m_robot = new Robot();
m_thread = new Thread(m_robot::startCompetition);
m_encoderSim = EncoderSim.createForChannel(Constants.kEncoderAChannel);
m_motorSim = new PWMSim(Constants.kMotorPort);
m_motorSim = new PWMMotorControllerSim(Constants.kMotorPort);
m_joystickSim = new JoystickSim(Constants.kJoystickPort);
m_thread.start();
@@ -54,7 +54,6 @@ class ElevatorSimulationTest {
}
m_robot.close();
m_encoderSim.resetData();
m_motorSim.resetData();
RoboRioSim.resetData();
DriverStationSim.resetData();
DriverStationSim.notifyNewData();
@@ -68,7 +67,6 @@ class ElevatorSimulationTest {
DriverStationSim.setEnabled(true);
DriverStationSim.notifyNewData();
assertTrue(m_motorSim.getInitialized());
assertTrue(m_encoderSim.getInitialized());
}

8
wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/potentiometerpid/PotentiometerPIDTest.java
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@@ -16,7 +16,7 @@ import edu.wpi.first.wpilibj.simulation.AnalogInputSim;
import edu.wpi.first.wpilibj.simulation.DriverStationSim;
import edu.wpi.first.wpilibj.simulation.ElevatorSim;
import edu.wpi.first.wpilibj.simulation.JoystickSim;
import edu.wpi.first.wpilibj.simulation.PWMSim;
import edu.wpi.first.wpilibj.simulation.PWMMotorControllerSim;
import edu.wpi.first.wpilibj.simulation.SimHooks;
import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.BeforeEach;
@@ -34,7 +34,7 @@ class PotentiometerPIDTest {
private Thread m_thread;
private ElevatorSim m_elevatorSim;
private PWMSim m_motorSim;
private PWMMotorControllerSim m_motorSim;
private AnalogInputSim m_analogSim;
private SimPeriodicBeforeCallback m_callback;
private JoystickSim m_joystickSim;
@@ -57,7 +57,7 @@ class PotentiometerPIDTest {
true,
0);
m_analogSim = new AnalogInputSim(Robot.kPotChannel);
m_motorSim = new PWMSim(Robot.kMotorChannel);
m_motorSim = new PWMMotorControllerSim(Robot.kMotorChannel);
m_joystickSim = new JoystickSim(Robot.kJoystickChannel);
m_callback =
@@ -93,7 +93,6 @@ class PotentiometerPIDTest {
m_robot.close();
m_callback.close();
m_analogSim.resetData();
m_motorSim.resetData();
}
@Test
@@ -104,7 +103,6 @@ class PotentiometerPIDTest {
DriverStationSim.setEnabled(true);
DriverStationSim.notifyNewData();
assertTrue(m_motorSim.getInitialized());
assertTrue(m_analogSim.getInitialized());
}

7
wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/unittest/subsystems/IntakeTest.java
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@@ -11,7 +11,7 @@ import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.examples.unittest.Constants.IntakeConstants;
import edu.wpi.first.wpilibj.simulation.DoubleSolenoidSim;
import edu.wpi.first.wpilibj.simulation.PWMSim;
import edu.wpi.first.wpilibj.simulation.PWMMotorControllerSim;
import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
@@ -19,7 +19,7 @@ import org.junit.jupiter.api.Test;
class IntakeTest {
static final double DELTA = 1e-2; // acceptable deviation range
Intake m_intake;
PWMSim m_simMotor;
PWMMotorControllerSim m_simMotor;
DoubleSolenoidSim m_simPiston;
@BeforeEach // this method will run before each test
@@ -27,7 +27,8 @@ class IntakeTest {
assert HAL.initialize(500, 0); // initialize the HAL, crash if failed
m_intake = new Intake(); // create our intake
m_simMotor =
new PWMSim(IntakeConstants.kMotorPort); // create our simulation PWM motor controller
new PWMMotorControllerSim(
IntakeConstants.kMotorPort); // create our simulation PWM motor controller
m_simPiston =
new DoubleSolenoidSim(
PneumaticsModuleType.CTREPCM,