Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[sim] Add sim wrappers for sensors that use SimDevice (#3517)

Browse Source
This commit is contained in:
PJ Reiniger
2021-08-21 02:19:59 -04:00
committed by GitHub
parent 2b3e2ebc11
commit 2edd510ab7
35 changed files with 771 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

63
wpilibc/src/test/native/cpp/simulation/ADXL345SimTest.cpp Normal file
View File

@@ -0,0 +1,63 @@
// 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(ADXL345SimTests, 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(ADXL345SimTests, 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

38
wpilibc/src/test/native/cpp/simulation/ADXL362SimTest.cpp Normal file
View File

@@ -0,0 +1,38 @@
// 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/ADXL362Sim.h" // NOLINT(build/include_order)
#include <hal/HAL.h>
#include "frc/ADXL362.h"
#include "gtest/gtest.h"
namespace frc::sim {
TEST(ADXL362SimTests, SetAttributes) {
HAL_Initialize(500, 0);
ADXL362 accel(SPI::kMXP, Accelerometer::kRange_2G);
ADXL362Sim 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());
ADXL362::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

35
wpilibc/src/test/native/cpp/simulation/ADXRS450_GyroSimTest.cpp Normal file
View File

@@ -0,0 +1,35 @@
// 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/ADXRS450_GyroSim.h" // NOLINT(build/include_order)
#include <hal/HAL.h>
#include "frc/ADXRS450_Gyro.h"
#include "gtest/gtest.h"
namespace frc::sim {
TEST(ADXRS450GyroSimTest, SetAttributes) {
HAL_Initialize(500, 0);
ADXRS450_Gyro gyro;
ADXRS450_GyroSim sim{gyro};
EXPECT_EQ(0, gyro.GetAngle());
EXPECT_EQ(0, gyro.GetRate());
constexpr units::degree_t TEST_ANGLE{123.456};
constexpr units::degrees_per_second_t TEST_RATE{229.3504};
sim.SetAngle(TEST_ANGLE);
sim.SetRate(TEST_RATE);
EXPECT_EQ(TEST_ANGLE.to<double>(), gyro.GetAngle());
EXPECT_EQ(TEST_RATE.to<double>(), gyro.GetRate());
gyro.Reset();
EXPECT_EQ(0, gyro.GetAngle());
}
} // namespace frc::sim