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

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