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[wpilib] DutyCycleEncoderSim: Expand API (#5443)

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This commit is contained in:
Gold856
2023-07-19 20:24:09 -04:00
committed by GitHub
parent 657338715d
commit 72a4543493
7 changed files with 257 additions and 3 deletions
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41
wpilibc/src/test/native/cpp/simulation/DutyCycleEncoderSimTest.cpp
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@@ -32,4 +32,45 @@ TEST(DutyCycleEncoderSimTest, SetDistance) {
EXPECT_EQ(19.1, enc.GetDistance());
}
TEST(DutyCycleEncoderSimTest, SetDistancePerRotation) {
HAL_Initialize(500, 0);
DutyCycleEncoder enc{0};
DutyCycleEncoderSim sim(enc);
sim.Set(units::turn_t{1.5});
enc.SetDistancePerRotation(42);
EXPECT_EQ(63, enc.GetDistance());
}
TEST(DutyCycleEncoderSimTest, SetAbsolutePosition) {
HAL_Initialize(500, 0);
DutyCycleEncoder enc{0};
DutyCycleEncoderSim sim(enc);
sim.SetAbsolutePosition(0.75);
EXPECT_EQ(0.75, enc.GetAbsolutePosition());
}
TEST(DutyCycleEncoderSimTest, SetIsConnected) {
HAL_Initialize(500, 0);
DutyCycleEncoder enc{0};
DutyCycleEncoderSim sim(enc);
sim.SetConnected(true);
EXPECT_TRUE(enc.IsConnected());
sim.SetConnected(false);
EXPECT_FALSE(enc.IsConnected());
}
TEST(DutyCycleEncoderSimTest, Reset) {
HAL_Initialize(500, 0);
DutyCycleEncoder enc{0};
DutyCycleEncoderSim sim(enc);
sim.SetDistance(2.5);
EXPECT_EQ(2.5, enc.GetDistance());
enc.Reset();
EXPECT_EQ(0, enc.GetDistance());
}
} // namespace frc::sim