Merge "Added a Java internal accelerometer test"

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AccelerometerTest.java

@@ -0,0 +1,73 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj;
+
+import static org.junit.Assert.assertEquals;
+
+import java.util.Arrays;
+import java.util.Collection;
+import java.util.logging.Logger;
+
+import org.junit.Before;
+import org.junit.BeforeClass;
+import org.junit.Test;
+import org.junit.runner.RunWith;
+import org.junit.runners.Parameterized;
+import org.junit.runners.Parameterized.Parameters;
+
+import edu.wpi.first.wpilibj.interfaces.Accelerometer;
+import edu.wpi.first.wpilibj.BuiltInAccelerometer;
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
+
+@RunWith(Parameterized.class)
+public class AccelerometerTest extends AbstractComsSetup {
+	private static final Logger logger = Logger.getLogger(PIDTest.class.getName());
+	private static final double kAccelerationTolerance = 0.1;
+	private BuiltInAccelerometer m_accelerometer;
+
+	public AccelerometerTest(Accelerometer.Range range) {
+		m_accelerometer = new BuiltInAccelerometer(range);
+	}
+
+	@BeforeClass
+	public static void waitASecond() {
+		/* The testbench sometimes shakes a little from a previous test.  Give
+			it some time. */
+		Timer.delay(1.0);
+	}
+
+	/**
+	 * Test with all valid ranges to make sure unpacking is always done
+	 * correctly.
+	 */
+	@Parameters
+	public static Collection<Accelerometer.Range[]> generateData() {
+		return Arrays.asList(new Accelerometer.Range[][] {
+			{ Accelerometer.Range.k2G },
+			{ Accelerometer.Range.k4G },
+			{ Accelerometer.Range.k8G },
+		});
+	}
+
+	@Override
+	protected Logger getClassLogger(){
+		return logger;
+	}
+
+	/**
+	 * There's not much we can automatically test with the on-board
+	 * accelerometer, but checking for gravity is probably good enough to tell
+	 * that it's working.
+	 */
+	@Test
+	public void testAccelerometer() {
+		assertEquals(0.0, m_accelerometer.getX(), kAccelerationTolerance);
+		assertEquals(0.0, m_accelerometer.getY(), kAccelerationTolerance);
+		assertEquals(1.0, m_accelerometer.getZ(), kAccelerationTolerance);
+	}
+
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/WpiLibJTestSuite.java

@@ -19,6 +19,7 @@ import edu.wpi.first.wpilibj.test.AbstractTestSuite;
  */
 @RunWith(Suite.class)
 @SuiteClasses({
+				AccelerometerTest.class,
 				AnalogCrossConnectTest.class,
 				AnalogPotentiometerTest.class,
 				CounterTest.class,