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[wpilibc] Add more unit tests (#3494)

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This commit is contained in:
PJ Reiniger
2021-08-05 22:04:51 -04:00
committed by GitHub
parent b253246959
commit 94e0db7963
30 changed files with 2588 additions and 89 deletions
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wpilibc/src/test/native/cpp/AnalogPotentiometerTest.cpp Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <hal/HAL.h>
#include "frc/AnalogPotentiometer.h"
#include "frc/simulation/AnalogInputSim.h"
#include "frc/simulation/RoboRioSim.h"
#include "gtest/gtest.h"
namespace frc {
using namespace frc::sim;
TEST(AnalogPotentiometerTest, InitializeWithAnalogInput) {
HAL_Initialize(500, 0);
AnalogInput ai{0};
AnalogPotentiometer pot{&ai};
AnalogInputSim sim{ai};
RoboRioSim::ResetData();
sim.SetVoltage(4.0);
EXPECT_EQ(0.8, pot.Get());
}
TEST(AnalogPotentiometerTest, InitializeWithAnalogInputAndScale) {
HAL_Initialize(500, 0);
AnalogInput ai{0};
AnalogPotentiometer pot{&ai, 270.0};
RoboRioSim::ResetData();
AnalogInputSim sim{ai};
sim.SetVoltage(5.0);
EXPECT_EQ(270.0, pot.Get());
sim.SetVoltage(2.5);
EXPECT_EQ(135, pot.Get());
sim.SetVoltage(0.0);
EXPECT_EQ(0.0, pot.Get());
}
TEST(AnalogPotentiometerTest, InitializeWithChannel) {
HAL_Initialize(500, 0);
AnalogPotentiometer pot{1};
AnalogInputSim sim{1};
sim.SetVoltage(5.0);
EXPECT_EQ(1.0, pot.Get());
}
TEST(AnalogPotentiometerTest, InitializeWithChannelAndScale) {
HAL_Initialize(500, 0);
AnalogPotentiometer pot{1, 180.0};
RoboRioSim::ResetData();
AnalogInputSim sim{1};
sim.SetVoltage(5.0);
EXPECT_EQ(180.0, pot.Get());
sim.SetVoltage(0.0);
EXPECT_EQ(0.0, pot.Get());
}
TEST(AnalogPotentiometerTest, WithModifiedBatteryVoltage) {
AnalogPotentiometer pot{1, 180.0, 90.0};
RoboRioSim::ResetData();
AnalogInputSim sim{1};
// Test at 5v
sim.SetVoltage(5.0);
EXPECT_EQ(270, pot.Get());
sim.SetVoltage(0.0);
EXPECT_EQ(90, pot.Get());
// Simulate a lower battery voltage
RoboRioSim::SetUserVoltage5V(units::volt_t{2.5});
sim.SetVoltage(2.5);
EXPECT_EQ(270, pot.Get());
sim.SetVoltage(2.0);
EXPECT_EQ(234, pot.Get());
sim.SetVoltage(0.0);
EXPECT_EQ(90, pot.Get());
}
} // namespace frc