mirror of
https://github.com/wpilibsuite/allwpilib
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28 lines
997 B
C++
28 lines
997 B
C++
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include <thread>
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#include "frc/SlewRateLimiter.h"
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#include "gtest/gtest.h"
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TEST(SlewRateLimiterTest, SlewRateLimitTest) {
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frc::SlewRateLimiter<units::meters> limiter(1_mps);
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std::this_thread::sleep_for(std::chrono::milliseconds(1000));
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EXPECT_TRUE(limiter.Calculate(2_m) < 2_m);
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}
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TEST(SlewRateLimiterTest, SlewRateNoLimitTest) {
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frc::SlewRateLimiter<units::meters> limiter(1_mps);
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std::this_thread::sleep_for(std::chrono::milliseconds(1000));
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EXPECT_EQ(limiter.Calculate(0.5_m), 0.5_m);
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}
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