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https://github.com/wpilibsuite/allwpilib
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d6f185d8e5
I started with the output of styleguide#217, then renamed a few classes to fix compilation. ntcore's StorageTest needed some manual renaming since it put the Test word in the middle instead of at the end. One limitation of wpiformat is test cases that were only named "Test" were unmodified, and an error was generated. These test cases were manually given more descriptive names: * TimedRobotTest mode test cases had "Mode" appended to the name. Java tests were renamed to match. * UvAsyncTest and UvAsyncFunctionTest cases were given alternate names
52 lines
1.5 KiB
C++
52 lines
1.5 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 <hal/HAL.h>
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#include "CrossConnects.h"
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#include "LifetimeWrappers.h"
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#include "gtest/gtest.h"
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using namespace hlt;
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class DutyCycleTest : public ::testing::TestWithParam<std::pair<int, int>> {};
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TEST_P(DutyCycleTest, DutyCycle) {
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auto param = GetParam();
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int32_t status = 0;
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PWMHandle pwmHandle(param.first, &status);
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ASSERT_NE(pwmHandle, HAL_kInvalidHandle);
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ASSERT_EQ(0, status);
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// Ensure our PWM is disabled, and set up properly
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HAL_SetPWMRaw(pwmHandle, 0, &status);
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ASSERT_EQ(0, status);
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HAL_SetPWMConfig(pwmHandle, 2.0, 1.0, 1.0, 0, 0, &status);
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HAL_SetPWMConfig(pwmHandle, 5.05, 2.525, 2.525, 2.525, 0, &status);
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ASSERT_EQ(0, status);
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HAL_SetPWMPeriodScale(pwmHandle, 0, &status);
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ASSERT_EQ(0, status);
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DIOHandle dioHandle{param.second, true, &status};
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ASSERT_EQ(0, status);
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DutyCycleHandle dutyCycle{dioHandle, &status};
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ASSERT_EQ(0, status);
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HAL_SetPWMSpeed(pwmHandle, 0.5, &status);
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ASSERT_EQ(0, status);
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// Sleep enough time for the frequency to converge
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usleep(3500000);
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ASSERT_NEAR(1000 / 5.05,
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(double)HAL_GetDutyCycleFrequency(dutyCycle, &status), 1);
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// TODO measure output
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}
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INSTANTIATE_TEST_SUITE_P(DutyCycleCrossConnTests, DutyCycleTest,
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::testing::ValuesIn(PWMCrossConnects));
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