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[hal, wpilib] Remove analog accumulator and analog gyro (#7697)

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The 2 high level classes were temporarily kept to keep the examples compiling. We will remove those when we have the interface into the built in IMU.
This commit is contained in:
Thad House
2025-01-17 12:58:31 -08:00
committed by GitHub
parent 92f0a3c961
commit f80874dd4b
76 changed files with 33 additions and 3886 deletions
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38
wpilibj/src/test/java/edu/wpi/first/wpilibj/AnalogGyroTest.java
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@@ -1,38 +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 edu.wpi.first.wpilibj;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertNotNull;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.simulation.AnalogGyroSim;
import org.junit.jupiter.api.Test;
class AnalogGyroTest {
@Test
void testInitializeWithAnalogInput() {
HAL.initialize(500, 0);
AnalogGyroSim sim = new AnalogGyroSim(0);
assertFalse(sim.getInitialized());
try (AnalogInput ai = new AnalogInput(0);
AnalogGyro gyro = new AnalogGyro(ai, 229, 17.4)) {
assertEquals(ai, gyro.getAnalogInput());
}
}
@Test
void testInitializeWithChannel() {
HAL.initialize(500, 0);
AnalogGyroSim sim = new AnalogGyroSim(0);
assertFalse(sim.getInitialized());
try (AnalogGyro gyro = new AnalogGyro(1, 191, 35.04)) {
assertNotNull(gyro.getAnalogInput());
}
}
}

97
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogGyroSimTest.java
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@@ -1,97 +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 edu.wpi.first.wpilibj.simulation;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.simulation.testutils.BooleanCallback;
import edu.wpi.first.wpilibj.simulation.testutils.DoubleCallback;
import org.junit.jupiter.api.Test;
class AnalogGyroSimTest {
@Test
void testInitialization() {
HAL.initialize(500, 0);
AnalogGyroSim sim = new AnalogGyroSim(0);
assertFalse(sim.getInitialized());
BooleanCallback initializedCallback = new BooleanCallback();
try (CallbackStore cb = sim.registerInitializedCallback(initializedCallback, false);
AnalogInput ai = new AnalogInput(0);
AnalogGyro gyro = new AnalogGyro(ai)) {
assertTrue(sim.getInitialized());
assertTrue(initializedCallback.wasTriggered());
assertTrue(initializedCallback.getSetValue());
}
}
@Test
void testSetAngle() {
HAL.initialize(500, 0);
AnalogGyroSim sim = new AnalogGyroSim(0);
DoubleCallback callback = new DoubleCallback();
try (AnalogInput ai = new AnalogInput(0);
AnalogGyro gyro = new AnalogGyro(ai);
CallbackStore cb = sim.registerAngleCallback(callback, false)) {
assertEquals(0, gyro.getAngle());
final double TEST_ANGLE = 35.04;
sim.setAngle(TEST_ANGLE);
assertEquals(TEST_ANGLE, sim.getAngle());
assertEquals(TEST_ANGLE, gyro.getAngle());
assertEquals(-TEST_ANGLE, gyro.getRotation2d().getDegrees());
assertTrue(callback.wasTriggered());
assertEquals(TEST_ANGLE, callback.getSetValue());
}
}
@Test
void testSetRate() {
HAL.initialize(500, 0);
AnalogGyroSim sim = new AnalogGyroSim(0);
DoubleCallback callback = new DoubleCallback();
try (AnalogInput ai = new AnalogInput(0);
AnalogGyro gyro = new AnalogGyro(ai);
CallbackStore cb = sim.registerRateCallback(callback, false)) {
assertEquals(0, gyro.getRate());
final double TEST_RATE = -19.1;
sim.setRate(TEST_RATE);
assertEquals(TEST_RATE, sim.getRate());
assertEquals(TEST_RATE, gyro.getRate());
assertTrue(callback.wasTriggered());
assertEquals(TEST_RATE, callback.getSetValue());
}
}
@Test
void testReset() {
HAL.initialize(500, 0);
try (AnalogInput ai = new AnalogInput(0);
AnalogGyro gyro = new AnalogGyro(ai)) {
AnalogGyroSim sim = new AnalogGyroSim(gyro);
sim.setAngle(12.34);
sim.setRate(43.21);
sim.resetData();
assertEquals(0, sim.getAngle());
assertEquals(0, sim.getRate());
assertEquals(0, gyro.getAngle());
assertEquals(0, gyro.getRate());
}
}
}

22
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogInputSimTest.java
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@@ -4,13 +4,10 @@
package edu.wpi.first.wpilibj.simulation;
import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertThrows;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.util.AllocationException;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.simulation.testutils.BooleanCallback;
import edu.wpi.first.wpilibj.simulation.testutils.DoubleCallback;
@@ -64,23 +61,4 @@ class AnalogInputSimTest {
assertEquals(3504, input.getOversampleBits());
}
}
@Test
void tesInitAccumulator() {
HAL.initialize(500, 0);
try (AnalogInput input = new AnalogInput(0)) {
// First initialization works fine
assertDoesNotThrow(input::initAccumulator);
input.resetAccumulator();
}
}
@Test
void tesInitAccumulatorOnInvalidPort() {
HAL.initialize(500, 0);
try (AnalogInput input = new AnalogInput(5)) {
assertThrows(AllocationException.class, input::initAccumulator);
}
}
}