mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
44b9cc1398
GitOrigin-RevId: ac60fd3cf4a24023184376687da28373d14b781a This mirrors the robotpy files for the following projects: - apriltag - datalog - hal - ntcore - romiVendordep - wpilibc - wpimath - xrpVendordep This excludes cscore and the halsim wrappers for at this time. NOTE: This does not hook these projects up to the build system, just simply mirrors the files. The building will take place in a follow up PR to make it easier to review the changes necessary to build.
145 lines
3.1 KiB
Python
145 lines
3.1 KiB
Python
import math
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from wpilib import Joystick
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from wpilib.simulation import JoystickSim
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def test_getX() -> None:
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joy = Joystick(1)
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joysim = JoystickSim(joy)
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joysim.setX(0.25)
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joysim.notifyNewData()
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assert math.isclose(joy.getX(), 0.25)
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joysim.setX(0)
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joysim.notifyNewData()
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assert math.isclose(joy.getX(), 0.0)
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def test_getY() -> None:
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joy = Joystick(1)
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joysim = JoystickSim(joy)
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joysim.setY(0.25)
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joysim.notifyNewData()
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assert math.isclose(joy.getY(), 0.25)
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joysim.setY(0)
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joysim.notifyNewData()
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assert math.isclose(joy.getY(), 0.0)
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def test_getZ() -> None:
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joy = Joystick(1)
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joysim = JoystickSim(joy)
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joysim.setZ(0.25)
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joysim.notifyNewData()
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assert math.isclose(joy.getZ(), 0.25)
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joysim.setZ(0)
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joysim.notifyNewData()
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assert math.isclose(joy.getZ(), 0.0)
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def test_getTwist() -> None:
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joy = Joystick(1)
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joysim = JoystickSim(joy)
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joysim.setTwist(0.25)
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joysim.notifyNewData()
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assert math.isclose(joy.getTwist(), 0.25)
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joysim.setTwist(0)
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joysim.notifyNewData()
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assert math.isclose(joy.getTwist(), 0.0)
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def test_getThrottle() -> None:
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joy = Joystick(1)
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joysim = JoystickSim(joy)
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joysim.setThrottle(0.25)
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joysim.notifyNewData()
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assert math.isclose(joy.getThrottle(), 0.25)
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joysim.setThrottle(0)
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joysim.notifyNewData()
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assert math.isclose(joy.getThrottle(), 0.0)
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def test_getTrigger() -> None:
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joy = Joystick(1)
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joysim = JoystickSim(joy)
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joysim.setTrigger(True)
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joysim.notifyNewData()
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assert joy.getTrigger()
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joysim.setTrigger(False)
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joysim.notifyNewData()
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assert not joy.getTrigger()
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def test_getTop() -> None:
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joy = Joystick(1)
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joysim = JoystickSim(joy)
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joysim.setTop(True)
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joysim.notifyNewData()
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assert joy.getTop()
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joysim.setTop(False)
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joysim.notifyNewData()
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assert not joy.getTop()
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def test_getMagnitude() -> None:
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joy = Joystick(1)
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joysim = JoystickSim(joy)
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# X Only
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joysim.setX(0.5)
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joysim.setY(0.0)
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joysim.notifyNewData()
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assert math.isclose(joy.getMagnitude(), 0.5)
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# Y Only
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joysim.setX(0.0)
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joysim.setY(-0.5)
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joysim.notifyNewData()
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assert math.isclose(joy.getMagnitude(), 0.5)
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# Both
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joysim.setX(0.5)
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joysim.setY(-0.5)
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joysim.notifyNewData()
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assert math.isclose(joy.getMagnitude(), 0.70710678118)
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def test_getDirection() -> None:
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joy = Joystick(1)
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joysim = JoystickSim(joy)
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# X Only
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joysim.setX(0.5)
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joysim.setY(0.0)
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joysim.notifyNewData()
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assert math.isclose(joy.getDirectionDegrees(), 90)
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assert math.isclose(joy.getDirectionRadians(), math.radians(90))
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# Y Only
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joysim.setX(0.0)
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joysim.setY(-0.5)
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joysim.notifyNewData()
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assert math.isclose(joy.getDirectionDegrees(), 0)
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assert math.isclose(joy.getDirectionRadians(), math.radians(0))
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# Both
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joysim.setX(0.5)
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joysim.setY(-0.5)
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joysim.notifyNewData()
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assert math.isclose(joy.getDirectionDegrees(), 45)
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assert math.isclose(joy.getDirectionRadians(), math.radians(45))
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