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e7c9f27683
This does not deprecate any current functionality, but prepares the way for future deprecation. The drive classes now accept void(double) functions, which makes them more flexible. The C++ API ended up a bit more verbose, but the Java API is really concise with method references, which is >80% of our userbase. For example: `DifferentialDrive drive = new DifferentialDrive(m_leftMotor::set, m_rightMotor::set);` Lambdas can be passed to interoperate with vendor motor controller APIs that don't have e.g., set(double), so CTRE doesn't have to maintain their WPI_ classes anymore. MotorControllerGroup was replaced with PWMMotorController.addFollower() for PWM motor controllers. Users of CAN motor controllers should use their vendor's follower functionality.
132 lines
3.5 KiB
C++
132 lines
3.5 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 "frc/motorcontrol/MotorControllerGroup.h" // NOLINT(build/include_order)
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#include <memory>
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#include <vector>
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#include <gtest/gtest.h>
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#include <wpi/deprecated.h>
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#include "motorcontrol/MockMotorController.h"
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using namespace frc;
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enum MotorControllerGroupTestType { TEST_ONE, TEST_TWO, TEST_THREE };
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std::ostream& operator<<(std::ostream& os,
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const MotorControllerGroupTestType& type) {
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switch (type) {
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case TEST_ONE:
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os << "MotorControllerGroup with one motor controller";
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break;
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case TEST_TWO:
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os << "MotorControllerGroup with two motor controllers";
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break;
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case TEST_THREE:
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os << "MotorControllerGroup with three motor controllers";
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break;
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}
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return os;
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}
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WPI_IGNORE_DEPRECATED
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/**
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* A fixture used for MotorControllerGroup testing.
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*/
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class MotorControllerGroupTest
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: public testing::TestWithParam<MotorControllerGroupTestType> {
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protected:
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std::vector<MockMotorController> m_motorControllers;
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std::unique_ptr<MotorControllerGroup> m_group;
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void SetUp() override {
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switch (GetParam()) {
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case TEST_ONE: {
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m_motorControllers.emplace_back();
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m_group = std::make_unique<MotorControllerGroup>(m_motorControllers[0]);
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break;
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}
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case TEST_TWO: {
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m_motorControllers.emplace_back();
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m_motorControllers.emplace_back();
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m_group = std::make_unique<MotorControllerGroup>(m_motorControllers[0],
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m_motorControllers[1]);
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break;
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}
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case TEST_THREE: {
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m_motorControllers.emplace_back();
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m_motorControllers.emplace_back();
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m_motorControllers.emplace_back();
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m_group = std::make_unique<MotorControllerGroup>(m_motorControllers[0],
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m_motorControllers[1],
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m_motorControllers[2]);
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break;
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}
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}
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}
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};
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TEST_P(MotorControllerGroupTest, Set) {
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m_group->Set(1.0);
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for (auto& motorController : m_motorControllers) {
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EXPECT_FLOAT_EQ(motorController.Get(), 1.0);
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}
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}
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TEST_P(MotorControllerGroupTest, GetInverted) {
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m_group->SetInverted(true);
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EXPECT_TRUE(m_group->GetInverted());
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}
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TEST_P(MotorControllerGroupTest, SetInvertedDoesNotModifyMotorControllers) {
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for (auto& motorController : m_motorControllers) {
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motorController.SetInverted(false);
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}
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m_group->SetInverted(true);
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for (auto& motorController : m_motorControllers) {
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EXPECT_EQ(motorController.GetInverted(), false);
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}
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}
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TEST_P(MotorControllerGroupTest, SetInvertedDoesInvert) {
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m_group->SetInverted(true);
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m_group->Set(1.0);
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for (auto& motorController : m_motorControllers) {
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EXPECT_FLOAT_EQ(motorController.Get(), -1.0);
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}
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}
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TEST_P(MotorControllerGroupTest, Disable) {
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m_group->Set(1.0);
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m_group->Disable();
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for (auto& motorController : m_motorControllers) {
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EXPECT_FLOAT_EQ(motorController.Get(), 0.0);
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}
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}
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TEST_P(MotorControllerGroupTest, StopMotor) {
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m_group->Set(1.0);
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m_group->StopMotor();
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for (auto& motorController : m_motorControllers) {
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EXPECT_FLOAT_EQ(motorController.Get(), 0.0);
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}
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}
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INSTANTIATE_TEST_SUITE_P(Tests, MotorControllerGroupTest,
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testing::Values(TEST_ONE, TEST_TWO, TEST_THREE));
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WPI_UNIGNORE_DEPRECATED
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