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36 lines
919 B
C++
36 lines
919 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/ADXRS450_GyroSim.h" // NOLINT(build/include_order)
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#include <hal/HAL.h>
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#include "frc/ADXRS450_Gyro.h"
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#include "gtest/gtest.h"
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namespace frc::sim {
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TEST(ADXRS450GyroSimTest, SetAttributes) {
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HAL_Initialize(500, 0);
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ADXRS450_Gyro gyro;
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ADXRS450_GyroSim sim{gyro};
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EXPECT_EQ(0, gyro.GetAngle());
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EXPECT_EQ(0, gyro.GetRate());
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constexpr units::degree_t TEST_ANGLE{123.456};
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constexpr units::degrees_per_second_t TEST_RATE{229.3504};
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sim.SetAngle(TEST_ANGLE);
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sim.SetRate(TEST_RATE);
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EXPECT_EQ(TEST_ANGLE.to<double>(), gyro.GetAngle());
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EXPECT_EQ(TEST_RATE.to<double>(), gyro.GetRate());
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gyro.Reset();
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EXPECT_EQ(0, gyro.GetAngle());
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}
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} // namespace frc::sim
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