public void TestVictorSPStarts0()
{
using (VictorSP t = new VictorSP(2))
{
Assert.AreEqual(t.Get(), 0);
}
}
public void TestVictorSPSet()
{
using (VictorSP t = new VictorSP(2))
{
t.Set(1);
Assert.AreEqual(t.Get(), 1);
}
}
public void TestPIDWrite()
{
using (VictorSP t = new VictorSP(2))
{
t.PidWrite(-1);
Assert.AreEqual(t.Get(), -1);
}
}
public void bindMotors()
{
motorClimb = new VictorSP(RobotMap.motorClimb);
motorGearIntake = new VictorSP(RobotMap.motorGearIntake);
motorGearUp = new VictorSP(RobotMap.motorGearUp);
motorClimb.SafetyEnabled = false;
motorGearIntake.SafetyEnabled = false;
motorGearUp.SafetyEnabled = false;
initTables();
}
public void TestPWMHelpers()
{
using (VictorSP t = new VictorSP(2))
{
t.Set(1);
Assert.AreEqual(PWMHelpers.ReverseByType(nameof(VictorSP), HalData()["pwm"][2]["raw_value"]), 1);
Assert.AreEqual(PWMHelpers.ReverseByType(2), 1);
Assert.AreEqual(HalData()["pwm"][2]["value"], 1);
}
}
public drivingControl()
{
motorFrontLeft.SafetyEnabled = false;
motorFrontRight.SafetyEnabled = false;
motorRearLeft.SafetyEnabled = false;
motorRearRight.SafetyEnabled = false;
motorFrontLeft = new VictorSP(RobotMap.motorFrontLeft);
motorFrontRight = new VictorSP(RobotMap.motorFrontRight);
motorRearLeft = new VictorSP(RobotMap.motorRearLeft);
motorRearRight = new VictorSP(RobotMap.motorRearRight);
drive.SafetyEnabled = false;
drive = new RobotDrive(motorFrontLeft, motorRearLeft, motorFrontRight, motorRearRight);
}
/// <summary>
/// This function is run when the robot is first started up and should be
/// used for any initialization code.
/// </summary>
public override void RobotInit()
{
chooser = new SendableChooser();
chooser.AddDefault("Default Auto", defaultAuto);
chooser.AddObject("My Auto", straightAuto);
chooser.AddObject("Left Auto", leftAuto);
SmartDashboard.PutData("Chooser", chooser);
//start cameras?
CameraServer.Instance.StartAutomaticCapture(0);
CameraServer.Instance.StartAutomaticCapture(1);
//create joystick and robotdrive objects for joystick input and motor control
stick = new Joystick(0);
drive = new RobotDrive(0, 1, 2, 3);
climber = new VictorSP(4);
getRope = new VictorSP(5);
flag = '\0';
testTime = new System.Timers.Timer(50);
elapsed = true;
elapsedTimes = 0;
testTime.AutoReset = false;
testTime.Elapsed += TimeAlert;
}
public void TestVictorSPInitialized()
{
using (VictorSP t = new VictorSP(2))
Assert.AreEqual(HalData()["pwm"][2]["type"], "victorsp");
}
public operatingControl()
{
motorBallReady = new VictorSP(RobotMap.motorBallReady);
motorBallShoot = new VictorSP(RobotMap.motorBallShoot);
motorRobotClimb = new VictorSP(RobotMap.motorRobotClimb);
}
