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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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13
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java
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@@ -23,6 +23,7 @@ import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.test.TestBench;
import edu.wpi.first.wpiutil.math.MathUtils;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertFalse;
@@ -181,8 +182,10 @@ public class MotorEncoderTest extends AbstractComsSetup {
pidController.setIntegratorRange(-0.2, 0.2);
pidController.setSetpoint(1000);
Notifier pidRunner = new Notifier(
() -> me.getMotor().set(pidController.calculate(me.getEncoder().getDistance())));
Notifier pidRunner = new Notifier(() -> {
var speed = pidController.calculate(me.getEncoder().getDistance());
me.getMotor().set(MathUtils.clamp(speed, -0.2, 0.2));
});
pidRunner.startPeriodic(pidController.getPeriod());
Timer.delay(10.0);
@@ -202,8 +205,10 @@ public class MotorEncoderTest extends AbstractComsSetup {
pidController.setTolerance(200);
pidController.setSetpoint(600);
Notifier pidRunner =
new Notifier(() -> me.getMotor().set(filter.calculate(me.getEncoder().getRate()) + 8e-5));
Notifier pidRunner = new Notifier(() -> {
var speed = filter.calculate(me.getEncoder().getRate());
me.getMotor().set(MathUtils.clamp(speed, -0.3, 0.3));
});
pidRunner.startPeriodic(pidController.getPeriod());
Timer.delay(10.0);