public void TestSolenoidGet()
{
using (Solenoid s = NewSolenoid())
{
s.Set(true);
Assert.IsTrue(s.Get());
s.Set(false);
Assert.IsFalse(s.Get());
}
}
public void TestSolenoid()
{
Reset();
using (Solenoid solenoid1 = new Solenoid(0))
using (Solenoid solenoid2 = new Solenoid(1))
{
NotifyCallback solenoid1Callback = null;
NotifyCallback solenoid2Callback = null;
int callback1Id = -1;
int callback2Id = -1;
if (RobotBase.IsSimulation)
{
solenoid1Callback = (string s, HAL_Value val) =>
{
SimData.DIO[12].SetValue(!val.GetBoolean());
};
callback1Id = SimData.PCM[0].RegisterSolenoidOutputCallback(0, solenoid1Callback, false);
solenoid2Callback = (s, o) =>
{
SimData.DIO[13].SetValue(!o.GetBoolean());
};
callback2Id = SimData.PCM[0].RegisterSolenoidOutputCallback(1, solenoid2Callback);
}
solenoid1.Set(false);
solenoid2.Set(false);
Timer.Delay(SolenoidDelayTime);
Assert.That(fakeSolenoid1.Get());
Assert.That(fakeSolenoid2.Get());
Assert.That(!solenoid1.Get());
Assert.That(!solenoid2.Get());
solenoid1.Set(true);
solenoid2.Set(false);
Timer.Delay(SolenoidDelayTime);
Assert.That(!fakeSolenoid1.Get());
Assert.That(fakeSolenoid2.Get());
Assert.That(solenoid1.Get());
Assert.That(!solenoid2.Get());
solenoid1.Set(false);
solenoid2.Set(true);
Timer.Delay(SolenoidDelayTime);
Assert.That(fakeSolenoid1.Get());
Assert.That(!fakeSolenoid2.Get());
Assert.That(!solenoid1.Get());
Assert.That(solenoid2.Get());
solenoid1.Set(true);
solenoid2.Set(true);
Timer.Delay(SolenoidDelayTime);
Assert.That(!fakeSolenoid1.Get());
Assert.That(!fakeSolenoid2.Get());
Assert.That(solenoid1.Get());
Assert.That(solenoid2.Get());
if (RobotBase.IsSimulation)
{
SimData.PCM[0].CancelSolenoidOutputCallback(0, callback1Id);
SimData.PCM[0].CancelSolenoidOutputCallback(1, callback2Id);
}
}
}
public void TestSolenoid()
{
Reset();
using (Solenoid solenoid1 = new Solenoid(0))
using (Solenoid solenoid2 = new Solenoid(1))
{
Action<string, dynamic> solenoid1Callback = null;
Action<string, dynamic> solenoid2Callback = null;
if (RobotBase.IsSimulation)
{
solenoid1Callback = (s, o) =>
{
SimData.DIO[12].Value = !o;
};
SimData.GetPCM(0).Solenoids[0].Register("Value", solenoid1Callback);
solenoid2Callback = (s, o) =>
{
SimData.DIO[13].Value = !o;
};
SimData.GetPCM(0).Solenoids[1].Register("Value", solenoid2Callback);
}
solenoid1.Set(false);
solenoid2.Set(false);
Timer.Delay(SolenoidDelayTime);
Assert.That(fakeSolenoid1.Get());
Assert.That(fakeSolenoid2.Get());
Assert.That(!solenoid1.Get());
Assert.That(!solenoid2.Get());
solenoid1.Set(true);
solenoid2.Set(false);
Timer.Delay(SolenoidDelayTime);
Assert.That(!fakeSolenoid1.Get());
Assert.That(fakeSolenoid2.Get());
Assert.That(solenoid1.Get());
Assert.That(!solenoid2.Get());
solenoid1.Set(false);
solenoid2.Set(true);
Timer.Delay(SolenoidDelayTime);
Assert.That(fakeSolenoid1.Get());
Assert.That(!fakeSolenoid2.Get());
Assert.That(!solenoid1.Get());
Assert.That(solenoid2.Get());
solenoid1.Set(true);
solenoid2.Set(true);
Timer.Delay(SolenoidDelayTime);
Assert.That(!fakeSolenoid1.Get());
Assert.That(!fakeSolenoid2.Get());
Assert.That(solenoid1.Get());
Assert.That(solenoid2.Get());
if (RobotBase.IsSimulation)
{
SimData.GetPCM(0).Solenoids[0].Cancel("Value", solenoid1Callback);
SimData.GetPCM(0).Solenoids[1].Cancel("Value", solenoid2Callback);
}
}
}
