Exemple #1
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        public void TestSolenoidGet()
        {
            using (Solenoid s = NewSolenoid())
            {
                s.Set(true);
                Assert.IsTrue(s.Get());

                s.Set(false);
                Assert.IsFalse(s.Get());
            }
        }
Exemple #2
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        public void TestSolenoidSet()
        {
            using (Solenoid s = NewSolenoid())
            {
                s.Set(true);
                Assert.IsTrue(GetSolenoids().GetSolenoidOutput(0));

                s.Set(false);
                Assert.IsFalse(GetSolenoids().GetSolenoidOutput(0));
            }
        }
Exemple #3
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 public void TestStopLiveWindowModeTableNull()
 {
     using (Solenoid s = NewSolenoid())
     {
         s.Set(true);
         Assert.That(s.Get, Is.True);
         s.StopLiveWindowMode();
         Assert.That(s.Get, Is.False);
     }
 }
Exemple #4
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 public void TestValueChanged()
 {
     using (Solenoid s = NewSolenoid())
     {
         s.Set(false);
         Assert.That(s.Get, Is.False);
         s.ValueChanged(null, null, Value.MakeBoolean(true), NetworkTables.NotifyFlags.NotifyLocal);
         Assert.That(s.Get, Is.True);
         s.ValueChanged(null, null, Value.MakeBoolean(false), NetworkTables.NotifyFlags.NotifyLocal);
         Assert.That(s.Get, Is.False);
     }
 }
Exemple #5
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 public void TestStopLiveWindowModeTable()
 {
     using (Solenoid s = NewSolenoid())
     {
         ITable table = new MockNetworkTable();
         s.InitTable(table);
         s.Set(true);
         Assert.That(s.Get, Is.True);
         s.StopLiveWindowMode();
         Assert.That(s.Get, Is.False);
     }
 }
Exemple #6
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        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);
                    }
                }
        }
Exemple #7
0
        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);
                }
            }

        }