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More C++ tests

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Change-Id: I92ce014a8ebe1c3b97f27aa15476fc3101cc1f1c
This commit is contained in:
thomasclark
2014-06-07 17:37:51 -04:00
parent 09feff102f
commit a3e11f201e
13 changed files with 386 additions and 193 deletions
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46
wpilibc/wpilibC++IntegrationTests/src/TiltPanCameraTest.cpp
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@@ -7,21 +7,39 @@
#include "WPILib.h"
#include "gtest/gtest.h"
#include "fixtures/TiltPanCameraFixture.h"
#include "TestBench.h"
static constexpr double kResetTime = 1.0;
static constexpr double kTestAngle = 180.0;
/**
* A fixture for the camera with two servos and a gyro
* @author Thomas Clark
*/
class TiltPanCameraTest : public testing::Test {
protected:
TiltPanCameraFixture *m_fixture;
protected:
Servo *m_tilt, *m_pan;
Gyro *m_gyro;
virtual void SetUp() {
m_fixture = TestBench::GetTiltPanCamera();
m_fixture->SetUp();
m_tilt = new Servo(TestBench::kCameraTiltChannel);
m_pan = new Servo(TestBench::kCameraPanChannel);
m_gyro = new Gyro(TestBench::kCameraGyroChannel);
}
virtual void TearDown() {
m_fixture->TearDown();
delete m_tilt;
delete m_pan;
delete m_gyro;
}
void Reset() {
m_tilt->Set(0.0);
m_pan->Set(0.0);
Wait(kResetTime);
m_gyro->Reset();
}
};
@@ -30,21 +48,17 @@ protected:
* Test if the servo turns 180 degrees and the gyroscope measures this angle
*/
TEST_F(TiltPanCameraTest, GyroAngle) {
const double TEST_ANGLE = 180.0;
m_fixture->Reset();
Reset();
for(int i = 0; i < 100; i++) {
m_fixture->GetPan()->Set(i / 100.0);
m_pan->Set(i / 100.0);
Wait(0.05);
}
double gyroAngle = m_fixture->GetGyro()->GetAngle();
double gyroAngle = m_gyro->GetAngle();
double error = std::abs(TEST_ANGLE - gyroAngle);
ASSERT_LE(error, 10.0) << "Gyro measured " << gyroAngle
<< " degrees, servo should have turned " << TEST_ANGLE << " degrees";
EXPECT_NEAR(gyroAngle, kTestAngle, 20.0) << "Gyro measured " << gyroAngle
<< " degrees, servo should have turned " << kTestAngle << " degrees";
}