mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
36 lines
887 B
C++
36 lines
887 B
C++
|
// Copyright (c) FIRST and other WPILib contributors.
|
||
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
||
|
|
// the WPILib BSD license file in the root directory of this project.
|
||
|
|
|
||
|
|
#include "frc/simulation/DutyCycleEncoderSim.h" // NOLINT(build/include_order)
|
||
|
|
|
||
|
|
#include <hal/HAL.h>
|
||
|
|
|
||
|
|
#include "callback_helpers/TestCallbackHelpers.h"
|
||
|
|
#include "frc/DutyCycleEncoder.h"
|
||
|
|
#include "gtest/gtest.h"
|
||
|
|
|
||
|
|
namespace frc::sim {
|
||
|
|
|
||
|
|
TEST(DutyCycleEncoderSimTest, Set) {
|
||
|
|
HAL_Initialize(500, 0);
|
||
|
|
|
||
|
|
DutyCycleEncoder enc{0};
|
||
|
|
DutyCycleEncoderSim sim(enc);
|
||
|
|
|
||
|
|
constexpr units::turn_t kTestValue{5.67};
|
||
|
|
sim.Set(kTestValue);
|
||
|
|
EXPECT_EQ(kTestValue, enc.Get());
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST(DutyCycleEncoderSimTest, SetDistance) {
|
||
|
|
HAL_Initialize(500, 0);
|
||
|
|
|
||
|
|
DutyCycleEncoder enc{0};
|
||
|
|
DutyCycleEncoderSim sim(enc);
|
||
|
|
sim.SetDistance(19.1);
|
||
|
|
EXPECT_EQ(19.1, enc.GetDistance());
|
||
|
|
}
|
||
|
|
|
||
|
|
} // namespace frc::sim
|