mirror of
https://github.com/wpilibsuite/allwpilib
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53 lines
1.5 KiB
C++
53 lines
1.5 KiB
C++
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "WPILib.h"
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#include "gtest/gtest.h"
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#include "TestBench.h"
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static const double kDelayTime = 0.05;
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/**
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* A fixture with an analog input and an analog output wired together
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*/
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class AnalogLoopTest : public testing::Test {
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protected:
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AnalogInput *m_input;
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AnalogOutput *m_output;
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virtual void SetUp() {
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m_input = new AnalogInput(TestBench::kFakeAnalogOutputChannel);
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m_output = new AnalogOutput(TestBench::kAnalogOutputChannel);
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}
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virtual void TearDown() {
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delete m_input;
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delete m_output;
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}
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void Reset() {
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m_output->SetVoltage(0.0f);
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}
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};
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/**
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* Test analog inputs and outputs by setting one and making sure the other
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* matches.
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*/
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TEST_F(AnalogLoopTest, Loop) {
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Reset();
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// Set the output voltage and check if the input measures the same voltage
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for(int i = 0; i < 50; i++) {
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m_output->SetVoltage(i / 10.0f);
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Wait(kDelayTime);
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EXPECT_NEAR(m_output->GetVoltage(), m_input->GetVoltage(), 0.01f);
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}
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}
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