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Tilt pan camera test

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Change-Id: I4496c9940a5da0bd78d90f1a5b4a9ebea6597336
This commit is contained in:
thomasclark
2014-06-02 17:34:10 -04:00
parent bb50f4b134
commit 2e39540f20
7 changed files with 181 additions and 32 deletions
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39
wpilibc/wpilibC++IntegrationTests/src/TiltPanCameraTest.cpp
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@@ -7,42 +7,21 @@
#include "WPILib.h"
#include "gtest/gtest.h"
#include "fixtures/TiltPanCameraFixture.h"
#include "TestBench.h"
/**
* A class to represent the camera with tilt and pan servos and a gyro
*
* @author Thomas Clark
*/
class TiltPanCameraTest : public testing::Test {
protected:
Servo *m_tilt, *m_pan;
Gyro *m_gyro;
static const double RESET_TIME = 1.0;
TiltPanCameraFixture *m_fixture;
virtual void SetUp() {
m_gyro = new Gyro(1);
m_gyro->SetSensitivity(0.007);
m_fixture = TestBench::GetTiltPanCamera();
Wait(RESET_TIME);
m_tilt = new Servo(10);
m_pan = new Servo(9);
m_fixture->SetUp();
}
virtual void TearDown() {
delete m_tilt;
delete m_pan;
delete m_gyro;
}
void Reset() {
m_tilt->SetAngle(0.0);
m_pan->SetAngle(0.0);
Wait(RESET_TIME);
m_gyro->Reset();
m_fixture->TearDown();
}
};
@@ -53,14 +32,14 @@ protected:
TEST_F(TiltPanCameraTest, GyroAngle) {
const double TEST_ANGLE = 180.0;
Reset();
m_fixture->Reset();
for(int i = 0; i < 100; i++) {
m_pan->Set(i / 100.0);
m_fixture->GetPan()->Set(i / 100.0);
Wait(0.05);
}
double gyroAngle = m_gyro->GetAngle();
double gyroAngle = m_fixture->GetGyro()->GetAngle();
double error = std::abs(TEST_ANGLE - gyroAngle);