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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
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/PWMSimTest.java
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@@ -16,6 +16,8 @@ import edu.wpi.first.wpilibj.simulation.testutils.IntCallback;
import org.junit.jupiter.api.Test;
class PWMSimTest {
private static final double PWM_STEP_SIZE = 1.0 / 2000.0;
@Test
void testInitialize() {
HAL.initialize(500, 0);
@@ -64,13 +66,47 @@ class PWMSimTest {
try (CallbackStore cb = sim.registerSpeedCallback(callback, false);
PWM pwm = new PWM(0)) {
final double kTestValue = 0.3504;
double kTestValue = 0.3504;
pwm.setSpeed(kTestValue);
assertEquals(kTestValue, sim.getSpeed());
assertEquals(kTestValue, pwm.getSpeed());
assertEquals(kTestValue, sim.getSpeed(), PWM_STEP_SIZE);
assertEquals(kTestValue, pwm.getSpeed(), PWM_STEP_SIZE);
assertTrue(callback.wasTriggered());
assertEquals(kTestValue, callback.getSetValue());
assertEquals(kTestValue, callback.getSetValue(), PWM_STEP_SIZE);
assertEquals(kTestValue / 2 + 0.5, sim.getPosition(), PWM_STEP_SIZE * 2);
assertEquals(kTestValue / 2 + 0.5, pwm.getPosition(), PWM_STEP_SIZE * 2);
kTestValue = -1.0;
pwm.setSpeed(kTestValue);
assertEquals(kTestValue, sim.getSpeed(), PWM_STEP_SIZE);
assertEquals(kTestValue, pwm.getSpeed(), PWM_STEP_SIZE);
assertEquals(0.0, sim.getPosition(), PWM_STEP_SIZE);
assertEquals(0.0, pwm.getPosition(), PWM_STEP_SIZE);
kTestValue = 0.0;
pwm.setSpeed(kTestValue);
assertEquals(kTestValue, sim.getSpeed(), PWM_STEP_SIZE);
assertEquals(kTestValue, pwm.getSpeed(), PWM_STEP_SIZE);
assertEquals(0.5, sim.getPosition(), PWM_STEP_SIZE);
assertEquals(0.5, pwm.getPosition(), PWM_STEP_SIZE);
kTestValue = 1.0;
pwm.setSpeed(kTestValue);
assertEquals(kTestValue, sim.getSpeed(), PWM_STEP_SIZE);
assertEquals(kTestValue, pwm.getSpeed(), PWM_STEP_SIZE);
assertEquals(kTestValue, sim.getPosition(), PWM_STEP_SIZE);
assertEquals(kTestValue, pwm.getPosition(), PWM_STEP_SIZE);
kTestValue = 1.1;
pwm.setSpeed(kTestValue);
assertEquals(1.0, sim.getSpeed(), PWM_STEP_SIZE);
assertEquals(1.0, pwm.getSpeed(), PWM_STEP_SIZE);
assertEquals(1.0, sim.getPosition(), PWM_STEP_SIZE);
assertEquals(1.0, pwm.getPosition(), PWM_STEP_SIZE);
}
}
@@ -86,13 +122,47 @@ class PWMSimTest {
try (CallbackStore cb = sim.registerPositionCallback(callback, false);
PWM pwm = new PWM(0)) {
final double kTestValue = 0.3504;
double kTestValue = 0.3504;
pwm.setPosition(kTestValue);
assertEquals(kTestValue, sim.getPosition());
assertEquals(kTestValue, pwm.getPosition());
assertEquals(kTestValue, sim.getPosition(), PWM_STEP_SIZE);
assertEquals(kTestValue, pwm.getPosition(), PWM_STEP_SIZE);
assertTrue(callback.wasTriggered());
assertEquals(kTestValue, callback.getSetValue());
assertEquals(kTestValue, callback.getSetValue(), PWM_STEP_SIZE);
assertEquals(kTestValue * 2 - 1.0, sim.getSpeed(), PWM_STEP_SIZE * 2);
assertEquals(kTestValue * 2 - 1.0, pwm.getSpeed(), PWM_STEP_SIZE * 2);
kTestValue = -1.0;
pwm.setPosition(kTestValue);
assertEquals(0.0, sim.getPosition(), PWM_STEP_SIZE);
assertEquals(0.0, pwm.getPosition(), PWM_STEP_SIZE);
assertEquals(kTestValue, sim.getSpeed(), PWM_STEP_SIZE);
assertEquals(kTestValue, pwm.getSpeed(), PWM_STEP_SIZE);
kTestValue = 0.0;
pwm.setPosition(kTestValue);
assertEquals(kTestValue, sim.getPosition(), PWM_STEP_SIZE);
assertEquals(kTestValue, pwm.getPosition(), PWM_STEP_SIZE);
assertEquals(-1.0, sim.getSpeed(), PWM_STEP_SIZE);
assertEquals(-1.0, pwm.getSpeed(), PWM_STEP_SIZE);
kTestValue = 1.0;
pwm.setPosition(kTestValue);
assertEquals(kTestValue, sim.getPosition(), PWM_STEP_SIZE);
assertEquals(kTestValue, pwm.getPosition(), PWM_STEP_SIZE);
assertEquals(kTestValue, sim.getSpeed(), PWM_STEP_SIZE);
assertEquals(kTestValue, pwm.getSpeed(), PWM_STEP_SIZE);
kTestValue = 1.1;
pwm.setPosition(kTestValue);
assertEquals(1.0, sim.getPosition(), PWM_STEP_SIZE);
assertEquals(1.0, pwm.getPosition(), PWM_STEP_SIZE);
assertEquals(1.0, sim.getSpeed(), PWM_STEP_SIZE);
assertEquals(1.0, pwm.getSpeed(), PWM_STEP_SIZE);
}
}