allwpilib/wpilibc/src/test/native/cpp/simulation/ADXL345SimTest.cpp

// 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/ADXL345Sim.h"  // NOLINT(build/include_order)

#include <hal/HAL.h>

#include "frc/ADXL345_I2C.h"
#include "frc/ADXL345_SPI.h"
#include "gtest/gtest.h"

namespace frc::sim {

TEST(ADXL345SimTest, SetSpiAttributes) {
  HAL_Initialize(500, 0);

  ADXL345_SPI accel(SPI::kMXP, Accelerometer::kRange_2G);
  ADXL345Sim sim(accel);

  EXPECT_EQ(0, accel.GetX());
  EXPECT_EQ(0, accel.GetY());
  EXPECT_EQ(0, accel.GetZ());

  sim.SetX(1.91);
  sim.SetY(-3.405);
  sim.SetZ(2.29);

  EXPECT_EQ(1.91, accel.GetX());
  EXPECT_EQ(-3.405, accel.GetY());
  EXPECT_EQ(2.29, accel.GetZ());

  ADXL345_SPI::AllAxes allAccel = accel.GetAccelerations();
  EXPECT_EQ(1.91, allAccel.XAxis);
  EXPECT_EQ(-3.405, allAccel.YAxis);
  EXPECT_EQ(2.29, allAccel.ZAxis);
}

TEST(ADXL345SimTest, SetI2CAttribute) {
  HAL_Initialize(500, 0);

  ADXL345_I2C accel(I2C::kMXP);
  ADXL345Sim sim(accel);

  EXPECT_EQ(0, accel.GetX());
  EXPECT_EQ(0, accel.GetY());
  EXPECT_EQ(0, accel.GetZ());

  sim.SetX(1.91);
  sim.SetY(-3.405);
  sim.SetZ(2.29);

  EXPECT_EQ(1.91, accel.GetX());
  EXPECT_EQ(-3.405, accel.GetY());
  EXPECT_EQ(2.29, accel.GetZ());

  ADXL345_I2C::AllAxes allAccel = accel.GetAccelerations();
  EXPECT_EQ(1.91, allAccel.XAxis);
  EXPECT_EQ(-3.405, allAccel.YAxis);
  EXPECT_EQ(2.29, allAccel.ZAxis);
}

}  // namespace frc::sim