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Replace Jenkins with Azure agent (#1914)

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This commit is contained in:
Austin Shalit
2019-11-26 01:00:35 -05:00
committed by Peter Johnson
parent b67d049ac2
commit e49494830f
4 changed files with 63 additions and 28 deletions
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11
wpilibcIntegrationTests/src/main/native/cpp/MotorEncoderTest.cpp
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@@ -5,6 +5,8 @@
/* the project. */
/*----------------------------------------------------------------------------*/
#include <algorithm>
#include "TestBench.h"
#include "frc/Encoder.h"
#include "frc/Jaguar.h"
@@ -146,7 +148,8 @@ TEST_P(MotorEncoderTest, PositionPIDController) {
/* 10 seconds should be plenty time to get to the reference */
frc::Notifier pidRunner{[this, &pidController] {
m_speedController->Set(pidController.Calculate(m_encoder->GetDistance()));
auto speed = pidController.Calculate(m_encoder->GetDistance());
m_speedController->Set(std::clamp(speed, -0.2, 0.2));
}};
pidRunner.StartPeriodic(pidController.GetPeriod());
Wait(10.0);
@@ -171,9 +174,9 @@ TEST_P(MotorEncoderTest, VelocityPIDController) {
/* 10 seconds should be plenty time to get to the reference */
frc::Notifier pidRunner{[this, &pidController] {
m_speedController->Set(
pidController.Calculate(m_filter->Calculate(m_encoder->GetRate())) +
8e-5);
auto speed =
pidController.Calculate(m_filter->Calculate(m_encoder->GetRate()));
m_speedController->Set(std::clamp(speed, -0.3, 0.3));
}};
pidRunner.StartPeriodic(pidController.GetPeriod());
Wait(10.0);