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Major formatting changes (breaks diffs). No code changes.

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The changes made in this commit do not affect any actual code,
    they are purely aesthetic. I ran clang-format with google style
    over all .h/.cpp files in wpilibc that weren't in wpilibC++Sim
    or gtest, and the eclipse formatter over all of the Java files
    using the Google eclipse formatting configuration.

Change-Id: I9627bca0bc103c398ecc1c5ba17467193291ae63
This commit is contained in:
James Kuszmaul
2015-06-25 15:07:55 -04:00
parent bd64d9a7ef
commit 7eb8550bdb
470 changed files with 89798 additions and 77287 deletions
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99
wpilibc/wpilibC++IntegrationTests/src/TiltPanCameraTest.cpp
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@@ -24,40 +24,38 @@ static constexpr double kAccelerometerTolerance = 0.2;
* @author Thomas Clark
*/
class TiltPanCameraTest : public testing::Test {
protected:
static Gyro *m_gyro;
Servo *m_tilt, *m_pan;
Accelerometer *m_spiAccel;
protected:
static Gyro *m_gyro;
Servo *m_tilt, *m_pan;
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(0.013);
}
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(0.013);
}
static void TearDownTestCase() {
delete m_gyro;
}
static void TearDownTestCase() { delete m_gyro; }
virtual void SetUp() override {
m_tilt = new Servo(TestBench::kCameraTiltChannel);
m_pan = new Servo(TestBench::kCameraPanChannel);
m_spiAccel = new ADXL345_SPI(SPI::kOnboardCS0);
virtual void SetUp() override {
m_tilt = new Servo(TestBench::kCameraTiltChannel);
m_pan = new Servo(TestBench::kCameraPanChannel);
m_spiAccel = new ADXL345_SPI(SPI::kOnboardCS0);
m_tilt->Set(kTiltSetpoint45);
m_pan->SetAngle(0.0f);
m_tilt->Set(kTiltSetpoint45);
m_pan->SetAngle(0.0f);
Wait(kServoResetTime);
Wait(kServoResetTime);
m_gyro->Reset();
}
m_gyro->Reset();
}
virtual void TearDown() override {
delete m_tilt;
delete m_pan;
delete m_spiAccel;
}
virtual void TearDown() override {
delete m_tilt;
delete m_pan;
delete m_spiAccel;
}
};
Gyro *TiltPanCameraTest::m_gyro = 0;
@@ -66,7 +64,7 @@ Gyro *TiltPanCameraTest::m_gyro = 0;
* Test if the gyro angle defaults to 0 immediately after being reset.
*/
TEST_F(TiltPanCameraTest, DefaultGyroAngle) {
EXPECT_NEAR(0.0f, m_gyro->GetAngle(), 1.0f);
EXPECT_NEAR(0.0f, m_gyro->GetAngle(), 1.0f);
}
/**
@@ -81,15 +79,16 @@ TEST_F(TiltPanCameraTest, GyroAngle) {
Wait(0.25);
m_gyro->Reset();
for(int i = 0; i < 600; i++) {
m_pan->Set(i / 1000.0);
Wait(0.001);
}
for (int i = 0; i < 600; i++) {
m_pan->Set(i / 1000.0);
Wait(0.001);
}
double gyroAngle = m_gyro->GetAngle();
double gyroAngle = m_gyro->GetAngle();
EXPECT_NEAR(gyroAngle, kTestAngle, 10.0) << "Gyro measured " << gyroAngle
<< " degrees, servo should have turned " << kTestAngle << " degrees";
EXPECT_NEAR(gyroAngle, kTestAngle, 10.0)
<< "Gyro measured " << gyroAngle << " degrees, servo should have turned "
<< kTestAngle << " degrees";
}
/**
@@ -97,21 +96,21 @@ TEST_F(TiltPanCameraTest, GyroAngle) {
* camera rotates
*/
TEST_F(TiltPanCameraTest, SPIAccelerometer) {
m_tilt->Set(kTiltSetpoint0);
Wait(kTiltTime);
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(kTiltSetpoint0);
Wait(kTiltTime);
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->GetX(), kAccelerometerTolerance);
EXPECT_NEAR(0.0, m_spiAccel->GetY(), kAccelerometerTolerance);
EXPECT_NEAR(std::sqrt(0.5), m_spiAccel->GetZ(), kAccelerometerTolerance);
m_tilt->Set(kTiltSetpoint45);
Wait(kTiltTime);
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->GetX(), kAccelerometerTolerance);
EXPECT_NEAR(0.0, m_spiAccel->GetY(), kAccelerometerTolerance);
EXPECT_NEAR(1.0, m_spiAccel->GetZ(), kAccelerometerTolerance);
m_tilt->Set(kTiltSetpoint90);
Wait(kTiltTime);
EXPECT_NEAR(0.0, m_spiAccel->GetX(), kAccelerometerTolerance);
EXPECT_NEAR(0.0, m_spiAccel->GetY(), kAccelerometerTolerance);
EXPECT_NEAR(1.0, m_spiAccel->GetZ(), kAccelerometerTolerance);
}