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39 lines
954 B
C++
39 lines
954 B
C++
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/simulation/ADXL362Sim.h" // NOLINT(build/include_order)
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#include <hal/HAL.h>
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#include "frc/ADXL362.h"
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#include "gtest/gtest.h"
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namespace frc::sim {
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TEST(ADXL362SimTests, SetAttributes) {
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HAL_Initialize(500, 0);
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ADXL362 accel(SPI::kMXP, Accelerometer::kRange_2G);
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ADXL362Sim sim(accel);
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EXPECT_EQ(0, accel.GetX());
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EXPECT_EQ(0, accel.GetY());
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EXPECT_EQ(0, accel.GetZ());
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sim.SetX(1.91);
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sim.SetY(-3.405);
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sim.SetZ(2.29);
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EXPECT_EQ(1.91, accel.GetX());
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EXPECT_EQ(-3.405, accel.GetY());
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EXPECT_EQ(2.29, accel.GetZ());
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ADXL362::AllAxes allAccel = accel.GetAccelerations();
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EXPECT_EQ(1.91, allAccel.XAxis);
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EXPECT_EQ(-3.405, allAccel.YAxis);
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EXPECT_EQ(2.29, allAccel.ZAxis);
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}
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} // namespace frc::sim
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