Merge "Changed the AnalogPot.cpp class, added AnalogPot test for CPP"

wpilibc/wpilibC++/include/AnalogPotentiometer.h

@@ -27,29 +27,13 @@ public:
      * @param scale The scaling to multiply the voltage by to get a meaningful unit.
      * @param offset The offset to add to the scaled value for controlling the zero value
      */
-    AnalogPotentiometer(int channel, double scale, double offset);
+    AnalogPotentiometer(int channel, double scale = 1.0, double offset = 0.0);
 
-    /**
-     * AnalogPotentiometer constructor.
-     *
-     * Use the scaling and offset values so that the output produces
-     * meaningful values. I.E: you have a 270 degree potentiometer and
-     * you want the output to be degrees with the halfway point as 0
-     * degrees. The scale value is 270.0(degrees)/5.0(volts) and the
-     * offset is -135.0 since the halfway point after scaling is 135
-     * degrees.
-     *
-     * @param channel The analog channel this potentiometer is plugged into.
-     * @param scale The scaling to multiply the voltage by to get a meaningful unit.
-     */
-    AnalogPotentiometer(int channel, double scale);
+    AnalogPotentiometer(AnalogInput *input, double scale = 1.0, double offset = 0.0);
 
-    /**
-     * AnalogPotentiometer constructor.
-     *
-     * @param channel The analog channel this potentiometer is plugged into.
-     */
-    AnalogPotentiometer(int channel);
+    AnalogPotentiometer(AnalogInput &input, double scale = 1.0, double offset = 0.0);
+
+    virtual ~AnalogPotentiometer();
 
     /**
      * Get the current reading of the potentiomere.
@@ -90,9 +74,10 @@ private:
     double m_scale, m_offset;
     AnalogInput* m_analog_input;
     ITable* m_table;
+    bool m_init_analog_input;
 
     /**
      * Common initialization code called by all constructors.
      */
-    void initPot(int channel, double scale, double offset);
+    void initPot(AnalogInput *input, double scale, double offset);
 };

wpilibc/wpilibC++/lib/AnalogPotentiometer.cpp

@@ -1,38 +1,67 @@
 
 #include "AnalogPotentiometer.h"
 
-void AnalogPotentiometer::initPot(int channel, double scale, double offset) {
-    m_channel = channel;
+/**
+ * Common initialization code called by all constructors.
+ */
+void AnalogPotentiometer::initPot(AnalogInput *input, double scale, double offset) {
+//    m_channel = channel;
     m_scale = scale;
     m_offset = offset;
-    m_analog_input = new AnalogInput(channel);
+    m_analog_input = input;
 }
 
 AnalogPotentiometer::AnalogPotentiometer(int channel, double scale, double offset) {
-    initPot(channel, scale, offset);
+    m_init_analog_input = true;
+    initPot(new AnalogInput(channel), scale, offset);
 }
 
-AnalogPotentiometer::AnalogPotentiometer(int channel, double scale) {
-    initPot(channel, scale, 0);
+AnalogPotentiometer::AnalogPotentiometer(AnalogInput *input, double scale, double offset) {
+    m_init_analog_input = false;
+    initPot(input, scale, offset);
 }
 
-AnalogPotentiometer::AnalogPotentiometer(int channel) {
-    initPot(channel, 1, 0);
+AnalogPotentiometer::AnalogPotentiometer(AnalogInput &input, double scale, double offset) {
+    m_init_analog_input = false;
+    initPot(&input, scale, offset);
 }
 
+AnalogPotentiometer::~AnalogPotentiometer() {
+  if(m_init_analog_input){
+    delete m_analog_input;
+    m_init_analog_input = false;
+  }
+}
 
+/**
+ * Get the current reading of the potentiomere.
+ *
+ * @return The current position of the potentiometer.
+ */
 double AnalogPotentiometer::Get() {
     return m_analog_input->GetVoltage() * m_scale + m_offset;
 }
 
+/**
+ * Implement the PIDSource interface.
+ *
+ * @return The current reading.
+ */
 double AnalogPotentiometer::PIDGet() {
     return Get();
 }
 
+
+/**
+ * @return the Smart Dashboard Type
+ */
 std::string AnalogPotentiometer::GetSmartDashboardType() {
     return "Analog Input";
 }
 
+/**
+ * Live Window code, only does anything if live window is activated.
+ */
 void AnalogPotentiometer::InitTable(ITable *subtable) {
     m_table = subtable;
     UpdateTable();

wpilibc/wpilibC++IntegrationTests/src/AnalogPotentiometerTest.cpp

@@ -0,0 +1,45 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "WPILib.h"
+#include "AnalogOutput.h"
+#include "TestBench.h"
+#include "gtest/gtest.h"
+
+static const double kScale = 54.0;
+static const double kVoltage = 3.33;
+static const double kAngle = 180.0;
+
+class AnalogPotentiometerTest : public testing::Test {
+protected:
+  AnalogOutput *m_fakePot;
+  AnalogPotentiometer *m_pot;
+
+  virtual void SetUp() {
+    m_fakePot = new AnalogOutput(TestBench::kAnalogOutputChannel);
+    m_pot = new AnalogPotentiometer(TestBench::kFakeAnalogOutputChannel,kScale);
+  }
+
+  virtual void TearDown() {
+    delete m_fakePot;
+    delete m_pot;
+  }
+};
+
+TEST_F(AnalogPotentiometerTest, TestInitialSettings) {
+  m_fakePot->SetVoltage(0.0);
+  Wait(0.1);
+  EXPECT_NEAR(0.0,m_pot->Get(),5.0)
+    <<"The potentiometer did not initialize to 0.";
+}
+
+TEST_F(AnalogPotentiometerTest,TestRangeValues) {
+  m_fakePot->SetVoltage(kVoltage);
+  Wait(0.1);
+  EXPECT_NEAR(kAngle, m_pot->Get(), 1.0)
+    << "The potentiometer did not measure the correct angle.";
+}