public void insert(bool button)
{
if (button == true)
{
Left.Set(-0.25);
Right.Set(0.25);
}
if (ShooterBallSensor.Get() == false)
{
stop(true);
}
}
public void TestMotorSafetyNoFeed()
{
using (Talon t = new Talon(0))
{
t.SafetyEnabled = true;
t.Expiration = 0.05;
t.Set(1.0);
double valAfterSet = SimData.PWM[0].Value;
bool aliveAfterSet = t.Alive;
UpdateData();
Thread.Sleep(1);
UpdateData();
Thread.Sleep(1);
UpdateData();
Thread.Sleep(1);
UpdateData();
Thread.Sleep(250);
UpdateData();
Thread.Sleep(1);
UpdateData();
Thread.Sleep(1);
UpdateData();
Thread.Sleep(1);
UpdateData();
Thread.Sleep(1);
UpdateData();
Thread.Sleep(1);
UpdateData();
Thread.Sleep(1);
double valAfterSleep = SimData.PWM[0].Value;
bool aliveAfterSleep = t.Alive;
Assert.That(valAfterSet, Is.EqualTo(1.0).Within(0.0001));
Assert.That(aliveAfterSet, Is.True);
Assert.That(valAfterSleep, Is.EqualTo(0.0).Within(0.001));
Assert.That(aliveAfterSleep, Is.False);
}
}
