From 5eddb69aa0f2f65fbe3e1d2cb02bd79fa0fafd8a Mon Sep 17 00:00:00 2001
From: thomasclark <tjclark@wpi.edu>
Date: Wed, 23 Jul 2014 09:36:27 -0400
Subject: [PATCH] Updated the C++ TiltPanCameraTest

The gyro sensitivity is fixed, the Accelerometer interface is
now used, and some tolerances are adjusted.

Change-Id: Iac1f3c4fbae3be923bd97692684ff72cd2f623f9
---
 .../src/TiltPanCameraTest.cpp                 | 53 ++++++++++---------
 1 file changed, 29 insertions(+), 24 deletions(-)

diff --git a/wpilibc/wpilibC++IntegrationTests/src/TiltPanCameraTest.cpp b/wpilibc/wpilibC++IntegrationTests/src/TiltPanCameraTest.cpp
index 67c39d31ee..27d4d82560 100644
--- a/wpilibc/wpilibC++IntegrationTests/src/TiltPanCameraTest.cpp
+++ b/wpilibc/wpilibC++IntegrationTests/src/TiltPanCameraTest.cpp
@@ -16,8 +16,8 @@ static constexpr double kTestAngle = 180.0;
 static constexpr double kTiltSetpoint0 = 0.16;
 static constexpr double kTiltSetpoint45 = 0.385;
 static constexpr double kTiltSetpoint90 = 0.61;
-static constexpr double kTiltTime = 0.5;
-static constexpr double kAccelerometerTolerance = 0.1;
+static constexpr double kTiltTime = 1.0;
+static constexpr double kAccelerometerTolerance = 0.2;
 
 /**
  * A fixture for the camera with two servos and a gyro
@@ -27,24 +27,25 @@ class TiltPanCameraTest : public testing::Test {
 protected:
 	static Gyro *m_gyro;
 	Servo *m_tilt, *m_pan;
-	ADXL345_SPI *m_spiAccel;
-	
+	Accelerometer *m_spiAccel;
+
 	static void SetUpTestCase() {
 		// The gyro object blocks for 5 seconds in the constructor, so only
 		// construct it once for the whole test case
 		m_gyro = new Gyro(TestBench::kCameraGyroChannel);
+		m_gyro->SetSensitivity(0.0134897058674);
 	}
-	
+
 	static void TearDownTestCase() {
 		delete m_gyro;
 	}
-	
+
 	virtual void SetUp() {
 		m_tilt = new Servo(TestBench::kCameraTiltChannel);
 		m_pan = new Servo(TestBench::kCameraPanChannel);
 		m_spiAccel = new ADXL345_SPI(SPI::kOnboardCS0);
 	}
-	
+
 	virtual void TearDown() {
 		delete m_tilt;
 		delete m_pan;
@@ -58,17 +59,21 @@ Gyro *TiltPanCameraTest::m_gyro = 0;
  * Test if the servo turns 180 degrees and the gyroscope measures this angle
  */
 TEST_F(TiltPanCameraTest, GyroAngle) {
+	m_pan->Set(0.0f);
 	Wait(kServoResetTime);
-	
-	for(int i = 0; i < 100; i++) {
-		m_pan->Set(i / 100.0);
+
+	m_gyro->Reset();
+
+	for(int i = 0; i < 180; i++) {
+		m_pan->SetAngle(i);
+
 		Wait(0.05);
 	}
-	
+
 	double gyroAngle = m_gyro->GetAngle();
-	
+
 	EXPECT_NEAR(gyroAngle, kTestAngle, 20.0) << "Gyro measured " << gyroAngle
-		<< " degrees, servo should have turned " << kTestAngle <<  " degrees"; 
+		<< " degrees, servo should have turned " << kTestAngle <<  " degrees";
 }
 
 /**
@@ -78,19 +83,19 @@ TEST_F(TiltPanCameraTest, GyroAngle) {
 TEST_F(TiltPanCameraTest, SPIAccelerometer) {
 	m_tilt->Set(kTiltSetpoint0);
 	Wait(kTiltTime);
-	EXPECT_NEAR(-1.0, m_spiAccel->GetAcceleration(ADXL345_SPI::kAxis_X), kAccelerometerTolerance);
-	EXPECT_NEAR(0.0, m_spiAccel->GetAcceleration(ADXL345_SPI::kAxis_Y), kAccelerometerTolerance);
-	EXPECT_NEAR(0.0, m_spiAccel->GetAcceleration(ADXL345_SPI::kAxis_Z), kAccelerometerTolerance);
-	
+	EXPECT_NEAR(-1.0, m_spiAccel->GetX(), kAccelerometerTolerance);
+	EXPECT_NEAR(0.0, m_spiAccel->GetY(), kAccelerometerTolerance);
+	EXPECT_NEAR(0.0, m_spiAccel->GetZ(), kAccelerometerTolerance);
+
 	m_tilt->Set(kTiltSetpoint45);
 	Wait(kTiltTime);
-	EXPECT_NEAR(-std::sqrt(0.5), m_spiAccel->GetAcceleration(ADXL345_SPI::kAxis_X), kAccelerometerTolerance);
-	EXPECT_NEAR(0.0, m_spiAccel->GetAcceleration(ADXL345_SPI::kAxis_Y), kAccelerometerTolerance);
-	EXPECT_NEAR(std::sqrt(0.5), m_spiAccel->GetAcceleration(ADXL345_SPI::kAxis_Z), kAccelerometerTolerance);
-	
+	EXPECT_NEAR(-std::sqrt(0.5), m_spiAccel->GetX(), kAccelerometerTolerance);
+	EXPECT_NEAR(0.0, m_spiAccel->GetY(), kAccelerometerTolerance);
+	EXPECT_NEAR(std::sqrt(0.5), m_spiAccel->GetZ(), kAccelerometerTolerance);
+
 	m_tilt->Set(kTiltSetpoint90);
 	Wait(kTiltTime);
-	EXPECT_NEAR(0.0, m_spiAccel->GetAcceleration(ADXL345_SPI::kAxis_X), kAccelerometerTolerance);
-	EXPECT_NEAR(0.0, m_spiAccel->GetAcceleration(ADXL345_SPI::kAxis_Y), kAccelerometerTolerance);
-	EXPECT_NEAR(1.0, m_spiAccel->GetAcceleration(ADXL345_SPI::kAxis_Z), kAccelerometerTolerance);
+	EXPECT_NEAR(0.0, m_spiAccel->GetX(), kAccelerometerTolerance);
+	EXPECT_NEAR(0.0, m_spiAccel->GetY(), kAccelerometerTolerance);
+	EXPECT_NEAR(1.0, m_spiAccel->GetZ(), kAccelerometerTolerance);
 }