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Added AnalogTrigger tests

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Change-Id: I60c3e576e100632635278e80743975daf238e904
This commit is contained in:
Thomas Clark
2014-07-29 16:36:36 -04:00
parent 26e90a988b
commit 386dc1f16b
1 changed files with 67 additions and 24 deletions
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91
wpilibc/wpilibC++IntegrationTests/src/AnalogLoopTest.cpp
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@@ -9,44 +9,87 @@
#include "gtest/gtest.h"
#include "TestBench.h"
static const double kDelayTime = 0.05;
static const double kDelayTime = 0.01;
/**
* A fixture with an analog input and an analog output wired together
*/
class AnalogLoopTest : public testing::Test {
protected:
AnalogInput *m_input;
AnalogOutput *m_output;
AnalogInput *m_input;
AnalogOutput *m_output;
virtual void SetUp() {
m_input = new AnalogInput(TestBench::kFakeAnalogOutputChannel);
m_output = new AnalogOutput(TestBench::kAnalogOutputChannel);
}
virtual void SetUp() {
m_input = new AnalogInput(TestBench::kFakeAnalogOutputChannel);
m_output = new AnalogOutput(TestBench::kAnalogOutputChannel);
}
virtual void TearDown() {
delete m_input;
delete m_output;
}
void Reset() {
m_output->SetVoltage(0.0f);
}
virtual void TearDown() {
delete m_input;
delete m_output;
}
};
/**
* Test analog inputs and outputs by setting one and making sure the other
* matches.
*/
TEST_F(AnalogLoopTest, Loop) {
Reset();
TEST_F(AnalogLoopTest, AnalogInputWorks) {
// Set the output voltage and check if the input measures the same voltage
for(int i = 0; i < 50; i++) {
m_output->SetVoltage(i / 10.0f);
// Set the output voltage and check if the input measures the same voltage
for(int i = 0; i < 50; i++) {
m_output->SetVoltage(i / 10.0f);
Wait(kDelayTime);
Wait(kDelayTime);
EXPECT_NEAR(m_output->GetVoltage(), m_input->GetVoltage(), 0.01f);
}
EXPECT_NEAR(m_output->GetVoltage(), m_input->GetVoltage(), 0.01f);
}
}
/**
* Test if we can use an analog trigger to check if the output is within a
* range correctly.
*/
TEST_F(AnalogLoopTest, AnalogTriggerWorks) {
AnalogTrigger trigger(m_input);
trigger.SetLimitsVoltage(2.0f, 3.0f);
m_output->SetVoltage(1.0f);
Wait(kDelayTime);
EXPECT_FALSE(trigger.GetInWindow()) << "Analog trigger is in the window (2V, 3V)";
EXPECT_FALSE(trigger.GetTriggerState()) << "Analog trigger is on";
m_output->SetVoltage(2.5f);
Wait(kDelayTime);
EXPECT_TRUE(trigger.GetInWindow()) << "Analog trigger is not in the window (2V, 3V)";
EXPECT_FALSE(trigger.GetTriggerState()) << "Analog trigger is on";
m_output->SetVoltage(4.0f);
Wait(kDelayTime);
EXPECT_FALSE(trigger.GetInWindow()) << "Analog trigger is in the window (2V, 3V)";
EXPECT_TRUE(trigger.GetTriggerState()) << "Analog trigger is not on";
}
/**
* Test if we can count the right number of ticks from an analog trigger with
* a counter.
*/
TEST_F(AnalogLoopTest, AnalogTriggerCounterWorks) {
AnalogTrigger trigger(m_input);
trigger.SetLimitsVoltage(2.0f, 3.0f);
Counter counter(trigger);
// Turn the analog output low and high 50 times
for(int i = 0; i < 50; i++) {
m_output->SetVoltage(1.0);
Wait(kDelayTime);
m_output->SetVoltage(4.0);
Wait(kDelayTime);
}
// The counter should be 50
EXPECT_EQ(50, counter.Get()) << "Analog trigger counter did not count 100 ticks";
}