mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
27 lines
755 B
C++
27 lines
755 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/Ultrasonic.h"
|
||
|
|
#include "frc/simulation/UltrasonicSim.h"
|
||
|
|
#include "gtest/gtest.h"
|
||
|
|
|
||
|
|
namespace frc {
|
||
|
|
|
||
|
|
TEST(UltrasonicTest, SimDevices) {
|
||
|
|
Ultrasonic ultrasonic{0, 1};
|
||
|
|
sim::UltrasonicSim sim{ultrasonic};
|
||
|
|
|
||
|
|
EXPECT_EQ(0, ultrasonic.GetRange().to<double>());
|
||
|
|
EXPECT_TRUE(ultrasonic.IsRangeValid());
|
||
|
|
|
||
|
|
sim.SetRange(units::meter_t{35.04});
|
||
|
|
EXPECT_EQ(35.04, ultrasonic.GetRange().to<double>());
|
||
|
|
|
||
|
|
sim.SetRangeValid(false);
|
||
|
|
EXPECT_FALSE(ultrasonic.IsRangeValid());
|
||
|
|
EXPECT_EQ(0, ultrasonic.GetRange().to<double>());
|
||
|
|
}
|
||
|
|
|
||
|
|
} // namespace frc
|