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https://github.com/wpilibsuite/allwpilib
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29 lines
1.1 KiB
C++
29 lines
1.1 KiB
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 <gtest/gtest.h>
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#include "../../ProtoTestBase.h"
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#include "frc/controller/DifferentialDriveFeedforward.h"
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using namespace frc;
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struct DifferentialDriveFeedforwardProtoTestData {
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using Type = DifferentialDriveFeedforward;
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inline static const Type kTestData{
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decltype(1_V / 1_mps){0.174}, decltype(1_V / 1_mps_sq){0.229},
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decltype(1_V / 1_mps){4.4}, decltype(1_V / 1_mps_sq){4.5}};
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static void CheckEq(const Type& testData, const Type& data) {
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EXPECT_EQ(testData.m_kVLinear.value(), data.m_kVLinear.value());
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EXPECT_EQ(testData.m_kALinear.value(), data.m_kALinear.value());
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EXPECT_EQ(testData.m_kVAngular.value(), data.m_kVAngular.value());
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EXPECT_EQ(testData.m_kAAngular.value(), data.m_kAAngular.value());
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}
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};
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INSTANTIATE_TYPED_TEST_SUITE_P(DifferentialDriveFeedforward, ProtoTest,
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DifferentialDriveFeedforwardProtoTestData);
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