Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-02 02:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[examples] Clean up examples (#8674)

Browse Source 
Move various "examples" into snippets. Several examples that were less
than a full mechanism or robot were moved to snippets. `arcadedrive` and
`tankdrive` were removed in favor of their Gamepad variants. `hidrumble`
was removed due to being too simple. `potentiometerpid` was removed
because of low utility. `gyromecanum` replaced `mecanumdrive` for
deduplication and because very few teams run holonomic drivetrains
without gyros.
This commit is contained in:
Gold856
2026-03-14 17:13:45 -04:00
committed by GitHub
parent 62ce8944aa
commit f1adce4cf7
78 changed files with 569 additions and 1665 deletions
Download Patch File Download Diff File Expand all files Collapse all files

173
wpilibjExamples/src/test/java/org/wpilib/examples/potentiometerpid/PotentiometerPIDTest.java
View File

@@ -1,173 +0,0 @@
// 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 org.wpilib.examples.potentiometerpid;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
import org.junit.jupiter.api.parallel.ResourceLock;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.HAL.SimPeriodicBeforeCallback;
import org.wpilib.hardware.hal.RobotMode;
import org.wpilib.math.system.DCMotor;
import org.wpilib.math.util.Units;
import org.wpilib.simulation.AnalogInputSim;
import org.wpilib.simulation.DriverStationSim;
import org.wpilib.simulation.ElevatorSim;
import org.wpilib.simulation.JoystickSim;
import org.wpilib.simulation.PWMMotorControllerSim;
import org.wpilib.simulation.SimHooks;
import org.wpilib.system.RobotController;
@ResourceLock("timing")
class PotentiometerPIDTest {
private final DCMotor m_elevatorGearbox = DCMotor.getVex775Pro(4);
private static final double kElevatorGearing = 10.0;
private static final double kElevatorDrumRadius = Units.inchesToMeters(2.0);
private static final double kCarriageMassKg = 4.0; // kg
private Robot m_robot;
private Thread m_thread;
private ElevatorSim m_elevatorSim;
private PWMMotorControllerSim m_motorSim;
private AnalogInputSim m_analogSim;
private SimPeriodicBeforeCallback m_callback;
private JoystickSim m_joystickSim;
@BeforeEach
void startThread() {
HAL.initialize(500, 0);
SimHooks.pauseTiming();
SimHooks.setProgramStarted(false);
DriverStationSim.resetData();
m_robot = new Robot();
m_thread = new Thread(m_robot::startCompetition);
m_elevatorSim =
new ElevatorSim(
m_elevatorGearbox,
kElevatorGearing,
kCarriageMassKg,
kElevatorDrumRadius,
0.0,
Robot.kFullHeight,
true,
0);
m_analogSim = new AnalogInputSim(Robot.kPotChannel);
m_motorSim = new PWMMotorControllerSim(Robot.kMotorChannel);
m_joystickSim = new JoystickSim(Robot.kJoystickChannel);
m_callback =
HAL.registerSimPeriodicBeforeCallback(
() -> {
m_elevatorSim.setInputVoltage(
m_motorSim.getDutyCycle() * RobotController.getBatteryVoltage());
m_elevatorSim.update(0.02);
/*
meters = (v / 3.3v) * range
meters / range = v / 3.3v
3.3v * (meters / range) = v
*/
m_analogSim.setVoltage(
RobotController.getVoltage3V3()
* (m_elevatorSim.getPosition() / Robot.kFullHeight));
});
m_thread.start();
SimHooks.waitForProgramStart();
}
@AfterEach
void stopThread() {
m_robot.endCompetition();
try {
m_thread.interrupt();
m_thread.join();
} catch (InterruptedException ex) {
Thread.currentThread().interrupt();
}
m_robot.close();
m_callback.close();
m_analogSim.resetData();
}
@Test
void teleopTest() {
// teleop init
{
DriverStationSim.setRobotMode(RobotMode.TELEOPERATED);
DriverStationSim.setEnabled(true);
DriverStationSim.notifyNewData();
assertTrue(m_analogSim.getInitialized());
}
// first setpoint
{
// advance 50 timesteps
SimHooks.stepTiming(1);
assertEquals(Robot.kSetpoints[0], m_elevatorSim.getPosition(), 0.1);
}
// second setpoint
{
// press button to advance setpoint
m_joystickSim.setTrigger(true);
m_joystickSim.notifyNewData();
// advance 50 timesteps
SimHooks.stepTiming(1);
assertEquals(Robot.kSetpoints[1], m_elevatorSim.getPosition(), 0.1);
}
// we need to unpress the button
{
m_joystickSim.setTrigger(false);
m_joystickSim.notifyNewData();
// advance 10 timesteps
SimHooks.stepTiming(0.2);
}
// third setpoint
{
// press button to advance setpoint
m_joystickSim.setTrigger(true);
m_joystickSim.notifyNewData();
// advance 50 timesteps
SimHooks.stepTiming(1);
assertEquals(Robot.kSetpoints[2], m_elevatorSim.getPosition(), 0.1);
}
// we need to unpress the button
{
m_joystickSim.setTrigger(false);
m_joystickSim.notifyNewData();
// advance 10 timesteps
SimHooks.stepTiming(0.2);
}
// rollover: first setpoint
{
// press button to advance setpoint
m_joystickSim.setTrigger(true);
m_joystickSim.notifyNewData();
// advance 60 timesteps
SimHooks.stepTiming(1.2);
assertEquals(Robot.kSetpoints[0], m_elevatorSim.getPosition(), 0.1);
}
}
}

2
wpilibjExamples/src/test/java/org/wpilib/examples/digitalcommunication/DigitalCommunicationTest.java → wpilibjExamples/src/test/java/org/wpilib/snippets/digitalcommunication/DigitalCommunicationTest.java
View File

@@ -2,7 +2,7 @@
// 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 org.wpilib.examples.digitalcommunication;
package org.wpilib.snippets.digitalcommunication;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;

6
wpilibjExamples/src/test/java/org/wpilib/examples/i2ccommunication/I2CCommunicationTest.java → wpilibjExamples/src/test/java/org/wpilib/snippets/i2ccommunication/I2CCommunicationTest.java
View File

@@ -2,12 +2,13 @@
// 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 org.wpilib.examples.i2ccommunication;
package org.wpilib.snippets.i2ccommunication;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTimeoutPreemptively;
import static org.junit.jupiter.api.Assertions.assertTrue;
import java.nio.charset.StandardCharsets;
import java.time.Duration;
import java.util.concurrent.CompletableFuture;
import org.junit.jupiter.api.AfterEach;
@@ -42,7 +43,8 @@ class I2CCommunicationTest {
m_future = new CompletableFuture<>();
m_callback =
m_i2c.registerWriteCallback(
(name, buffer, count) -> m_future.complete(new String(buffer, 0, count)));
(name, buffer, count) ->
m_future.complete(new String(buffer, 0, count, StandardCharsets.UTF_8)));
m_robot = new Robot();
m_thread = new Thread(m_robot::startCompetition);
m_thread.start();