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3f1cf3cabe
A chunk of updates to followers on Expansion Hub Fixes followers not implicitly enabling. Allows followers to follow other followers Throws exceptions on construction if a follower cycle is detected. Allows reversing followers. The enable thing will fix https://github.com/wpilibsuite/SystemcoreTesting/discussions/259#discussioncomment-16886195 Closes #8843 Depends on https://github.com/wpilibsuite/scservices/pull/30
38 lines
1.2 KiB
C++
38 lines
1.2 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "wpi/hardware/expansionhub/ExpansionHubMotor.hpp"
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#include <gtest/gtest.h>
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#include "wpi/hal/HAL.h"
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#include "wpi/system/Errors.hpp"
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namespace wpi {
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TEST(ExpansionHubMotorTest, FollowerLoopDetection) {
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HAL_Initialize(500, 0);
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wpi::ExpansionHubMotor motor0{0, 0};
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wpi::ExpansionHubMotor motor1{0, 1};
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wpi::ExpansionHubMotor motor2{0, 2};
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// Test that a simple loop is detected
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motor1.Follow(motor2, wpi::ExpansionHubMotor::FollowDirection::Opposed);
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motor2.Follow(motor0, wpi::ExpansionHubMotor::FollowDirection::Opposed);
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EXPECT_THROW(
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motor0.Follow(motor1, wpi::ExpansionHubMotor::FollowDirection::Opposed),
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wpi::RuntimeError);
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}
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TEST(ExpansionHubMotorTest, Follower) {
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HAL_Initialize(500, 0);
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wpi::ExpansionHubMotor motor0{0, 0};
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wpi::ExpansionHubMotor motor1{0, 1};
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wpi::ExpansionHubMotor motor2{0, 2};
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motor1.Follow(motor2, wpi::ExpansionHubMotor::FollowDirection::Opposed);
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motor2.Follow(motor0, wpi::ExpansionHubMotor::FollowDirection::Opposed);
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}
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} // namespace wpi
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