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[hal] Unify PWM simulation Speed, Position, and Raw (#5277)

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Setting one will set the others, like it does in real hardware.
Add tests for boundary conditions and conversions.
Update PWM sendable implementation to include all forms.
Fixes #5264
Fixes #3606
This commit is contained in:
sciencewhiz
2023-07-09 21:28:50 -07:00
committed by GitHub
parent fd5699b240
commit f8e74e2f7c
5 changed files with 283 additions and 22 deletions
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86
wpilibc/src/test/native/cpp/simulation/PWMSimTest.cpp
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@@ -12,6 +12,8 @@
namespace frc::sim {
constexpr double kPWMStepSize = 1.0 / 2000.0;
TEST(PWMSimTest, Initialize) {
HAL_Initialize(500, 0);
@@ -55,13 +57,47 @@ TEST(PWMSimTest, SetSpeed) {
auto cb = sim.RegisterSpeedCallback(callback.GetCallback(), false);
PWM pwm{0};
constexpr double kTestValue = 0.3504;
double kTestValue = 0.3504;
pwm.SetSpeed(kTestValue);
EXPECT_EQ(kTestValue, sim.GetSpeed());
EXPECT_EQ(kTestValue, pwm.GetSpeed());
EXPECT_NEAR(kTestValue, sim.GetSpeed(), kPWMStepSize);
EXPECT_NEAR(kTestValue, pwm.GetSpeed(), kPWMStepSize);
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(kTestValue, callback.GetLastValue());
EXPECT_NEAR(kTestValue, callback.GetLastValue(), kPWMStepSize);
EXPECT_NEAR(kTestValue / 2 + 0.5, sim.GetPosition(), kPWMStepSize * 2);
EXPECT_NEAR(kTestValue / 2 + 0.5, pwm.GetPosition(), kPWMStepSize * 2);
kTestValue = -1.0;
pwm.SetSpeed(kTestValue);
EXPECT_NEAR(kTestValue, sim.GetSpeed(), kPWMStepSize);
EXPECT_NEAR(kTestValue, pwm.GetSpeed(), kPWMStepSize);
EXPECT_NEAR(0.0, sim.GetPosition(), kPWMStepSize);
EXPECT_NEAR(0.0, pwm.GetPosition(), kPWMStepSize);
kTestValue = 0.0;
pwm.SetSpeed(kTestValue);
EXPECT_NEAR(kTestValue, sim.GetSpeed(), kPWMStepSize);
EXPECT_NEAR(kTestValue, pwm.GetSpeed(), kPWMStepSize);
EXPECT_NEAR(0.5, sim.GetPosition(), kPWMStepSize);
EXPECT_NEAR(0.5, pwm.GetPosition(), kPWMStepSize);
kTestValue = 1.0;
pwm.SetSpeed(kTestValue);
EXPECT_NEAR(kTestValue, sim.GetSpeed(), kPWMStepSize);
EXPECT_NEAR(kTestValue, pwm.GetSpeed(), kPWMStepSize);
EXPECT_NEAR(kTestValue, sim.GetPosition(), kPWMStepSize);
EXPECT_NEAR(kTestValue, pwm.GetPosition(), kPWMStepSize);
kTestValue = 1.1;
pwm.SetSpeed(kTestValue);
EXPECT_NEAR(1.0, sim.GetSpeed(), kPWMStepSize);
EXPECT_NEAR(1.0, pwm.GetSpeed(), kPWMStepSize);
EXPECT_NEAR(1.0, sim.GetPosition(), kPWMStepSize);
EXPECT_NEAR(1.0, pwm.GetPosition(), kPWMStepSize);
}
TEST(PWMSimTest, SetPosition) {
@@ -75,13 +111,47 @@ TEST(PWMSimTest, SetPosition) {
auto cb = sim.RegisterPositionCallback(callback.GetCallback(), false);
PWM pwm{0};
constexpr double kTestValue = 0.3504;
double kTestValue = 0.3504;
pwm.SetPosition(kTestValue);
EXPECT_EQ(kTestValue, sim.GetPosition());
EXPECT_EQ(kTestValue, pwm.GetPosition());
EXPECT_NEAR(kTestValue, sim.GetPosition(), kPWMStepSize);
EXPECT_NEAR(kTestValue, pwm.GetPosition(), kPWMStepSize);
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(kTestValue, callback.GetLastValue());
EXPECT_NEAR(kTestValue, callback.GetLastValue(), kPWMStepSize);
EXPECT_NEAR(kTestValue * 2 - 1.0, sim.GetSpeed(), kPWMStepSize * 2);
EXPECT_NEAR(kTestValue * 2 - 1.0, pwm.GetSpeed(), kPWMStepSize * 2);
kTestValue = -1.0;
pwm.SetPosition(kTestValue);
EXPECT_NEAR(0.0, sim.GetPosition(), kPWMStepSize);
EXPECT_NEAR(0.0, pwm.GetPosition(), kPWMStepSize);
EXPECT_NEAR(kTestValue, sim.GetSpeed(), kPWMStepSize);
EXPECT_NEAR(kTestValue, pwm.GetSpeed(), kPWMStepSize);
kTestValue = 0.0;
pwm.SetPosition(kTestValue);
EXPECT_NEAR(kTestValue, sim.GetPosition(), kPWMStepSize);
EXPECT_NEAR(kTestValue, pwm.GetPosition(), kPWMStepSize);
EXPECT_NEAR(-1.0, sim.GetSpeed(), kPWMStepSize);
EXPECT_NEAR(-1.0, pwm.GetSpeed(), kPWMStepSize);
kTestValue = 1.0;
pwm.SetPosition(kTestValue);
EXPECT_NEAR(kTestValue, sim.GetPosition(), kPWMStepSize);
EXPECT_NEAR(kTestValue, pwm.GetPosition(), kPWMStepSize);
EXPECT_NEAR(kTestValue, sim.GetSpeed(), kPWMStepSize);
EXPECT_NEAR(kTestValue, pwm.GetSpeed(), kPWMStepSize);
kTestValue = 1.1;
pwm.SetPosition(kTestValue);
EXPECT_NEAR(1.0, sim.GetPosition(), kPWMStepSize);
EXPECT_NEAR(1.0, pwm.GetPosition(), kPWMStepSize);
EXPECT_NEAR(1.0, sim.GetSpeed(), kPWMStepSize);
EXPECT_NEAR(1.0, pwm.GetSpeed(), kPWMStepSize);
}
TEST(PWMSimTest, SetPeriodScale) {