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https://github.com/wpilibsuite/allwpilib
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c3b3fb8b74
Old behavior is available via StepTimingAsync. This makes it significantly easier to use simulation timing with notifiers. Also update tests to use simulation framework. This also speeds up the timing-dependent tests by using simulation timing. ResourceLock is used in the Java tests to prevent parallel execution. While we're here, tweak HAL Notifier implementation: - Use wait_for instead of wait_until in WaitForNotifierAlarm - Check for triggerTime = UINT64_MAX in UpdateNotifierAlarm
33 lines
1.0 KiB
C++
33 lines
1.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include <thread>
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#include <units/length.h>
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#include <units/time.h>
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#include <units/velocity.h>
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#include "frc/SlewRateLimiter.h"
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#include "frc/simulation/SimHooks.h"
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#include "gtest/gtest.h"
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TEST(SlewRateLimiterTest, SlewRateLimitTest) {
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frc::SlewRateLimiter<units::meters> limiter(1_mps);
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frc::sim::StepTiming(1.0_s);
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EXPECT_TRUE(limiter.Calculate(2_m) < 2_m);
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}
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TEST(SlewRateLimiterTest, SlewRateNoLimitTest) {
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frc::SlewRateLimiter<units::meters> limiter(1_mps);
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frc::sim::StepTiming(1.0_s);
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EXPECT_EQ(limiter.Calculate(0.5_m), 0.5_m);
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}
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