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Add ADX Simulator tests (#1142)

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This commit is contained in:
PJ Reiniger
2018-06-08 16:25:39 -04:00
committed by Peter Johnson
parent 056e68f2ae
commit b1bb63f9a4
5 changed files with 198 additions and 0 deletions
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47
simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL345_I2CAccelerometerTest.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. 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 "ADXL345_I2C.h"
#include "ADXL345_I2CAccelerometerData.h"
#include "Talon.h"
#include "gtest/gtest.h"
class ADXL345_I2CAccelerometerTest
: public ::testing::TestWithParam<frc::I2C::Port> {};
TEST_P(ADXL345_I2CAccelerometerTest, TestAccelerometer) {
const double EPSILON = 1 / 256.0;
frc::I2C::Port port = GetParam();
hal::ADXL345_I2CData sim{port};
frc::ADXL345_I2C accel{port};
EXPECT_NEAR(0, sim.GetX(), EPSILON);
EXPECT_NEAR(0, sim.GetY(), EPSILON);
EXPECT_NEAR(0, sim.GetZ(), EPSILON);
EXPECT_NEAR(0, accel.GetX(), EPSILON);
EXPECT_NEAR(0, accel.GetY(), EPSILON);
EXPECT_NEAR(0, accel.GetZ(), EPSILON);
sim.SetX(1.56);
sim.SetY(-.653);
sim.SetZ(0.11);
EXPECT_NEAR(1.56, sim.GetX(), EPSILON);
EXPECT_NEAR(-.653, sim.GetY(), EPSILON);
EXPECT_NEAR(0.11, sim.GetZ(), EPSILON);
EXPECT_NEAR(1.56, accel.GetX(), EPSILON);
EXPECT_NEAR(-.653, accel.GetY(), EPSILON);
EXPECT_NEAR(0.11, accel.GetZ(), EPSILON);
}
INSTANTIATE_TEST_CASE_P(ADXL345_I2CAccelerometerTest,
ADXL345_I2CAccelerometerTest,
::testing::Values(frc::I2C::kOnboard, frc::I2C::kMXP));

49
simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL345_SpiAccelerometerTest.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. 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 "ADXL345_SPI.h"
#include "ADXL345_SpiAccelerometerData.h"
#include "Talon.h"
#include "gtest/gtest.h"
class ADXL345_SpiAccelerometerTest
: public ::testing::TestWithParam<frc::SPI::Port> {};
TEST_P(ADXL345_SpiAccelerometerTest, TestAccelerometer) {
const double EPSILON = 1 / 256.0;
frc::SPI::Port port = GetParam();
hal::ADXL345_SpiAccelerometer sim{port};
frc::ADXL345_SPI accel{port};
EXPECT_NEAR(0, sim.GetX(), EPSILON);
EXPECT_NEAR(0, sim.GetY(), EPSILON);
EXPECT_NEAR(0, sim.GetZ(), EPSILON);
EXPECT_NEAR(0, accel.GetX(), EPSILON);
EXPECT_NEAR(0, accel.GetY(), EPSILON);
EXPECT_NEAR(0, accel.GetZ(), EPSILON);
sim.SetX(1.56);
sim.SetY(-.653);
sim.SetZ(0.11);
EXPECT_NEAR(1.56, sim.GetX(), EPSILON);
EXPECT_NEAR(-.653, sim.GetY(), EPSILON);
EXPECT_NEAR(0.11, sim.GetZ(), EPSILON);
EXPECT_NEAR(1.56, accel.GetX(), EPSILON);
EXPECT_NEAR(-.653, accel.GetY(), EPSILON);
EXPECT_NEAR(0.11, accel.GetZ(), EPSILON);
}
INSTANTIATE_TEST_CASE_P(
ADXL345_SpiAccelerometerTest, ADXL345_SpiAccelerometerTest,
::testing::Values(frc::SPI::kOnboardCS0, frc::SPI::kOnboardCS1,
frc::SPI::kOnboardCS2, frc::SPI::kOnboardCS3,
frc::SPI::kMXP));

49
simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL362_SpiAccelerometerTest.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. 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 "ADXL362.h"
#include "ADXL362_SpiAccelerometerData.h"
#include "Talon.h"
#include "gtest/gtest.h"
class ADXL362_SpiAccelerometerTest
: public ::testing::TestWithParam<frc::SPI::Port> {};
TEST_P(ADXL362_SpiAccelerometerTest, TestAccelerometer) {
const double EPSILON = 1 / 256.0;
frc::SPI::Port port = GetParam();
hal::ADXL362_SpiAccelerometer sim{port};
frc::ADXL362 accel{port};
EXPECT_NEAR(0, sim.GetX(), EPSILON);
EXPECT_NEAR(0, sim.GetY(), EPSILON);
EXPECT_NEAR(0, sim.GetZ(), EPSILON);
EXPECT_NEAR(0, accel.GetX(), EPSILON);
EXPECT_NEAR(0, accel.GetY(), EPSILON);
EXPECT_NEAR(0, accel.GetZ(), EPSILON);
sim.SetX(1.56);
sim.SetY(-.653);
sim.SetZ(0.11);
EXPECT_NEAR(1.56, sim.GetX(), EPSILON);
EXPECT_NEAR(-.653, sim.GetY(), EPSILON);
EXPECT_NEAR(0.11, sim.GetZ(), EPSILON);
EXPECT_NEAR(1.56, accel.GetX(), EPSILON);
EXPECT_NEAR(-.653, accel.GetY(), EPSILON);
EXPECT_NEAR(0.11, accel.GetZ(), EPSILON);
}
INSTANTIATE_TEST_CASE_P(
ADXL362_SpiAccelerometerTest, ADXL362_SpiAccelerometerTest,
::testing::Values(frc::SPI::kOnboardCS0, frc::SPI::kOnboardCS1,
frc::SPI::kOnboardCS2, frc::SPI::kOnboardCS3,
frc::SPI::kMXP));

36
simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXRS450_SpiGyroWrapperTest.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. 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 "ADXRS450_Gyro.h"
#include "ADXRS450_SpiGyroWrapperData.h"
#include "Talon.h"
#include "gtest/gtest.h"
class ADXRS450_SpiGyroWrapperTest
: public ::testing::TestWithParam<frc::SPI::Port> {};
TEST_P(ADXRS450_SpiGyroWrapperTest, TestAccelerometer) {
const double EPSILON = .000001;
frc::SPI::Port port = GetParam();
hal::ADXRS450_SpiGyroWrapper sim{port};
frc::ADXRS450_Gyro gyro{port};
EXPECT_NEAR(0, sim.GetAngle(), EPSILON);
EXPECT_NEAR(0, gyro.GetAngle(), EPSILON);
sim.SetAngle(32.56);
EXPECT_NEAR(32.56, sim.GetAngle(), EPSILON);
EXPECT_NEAR(32.56, gyro.GetAngle(), EPSILON);
}
INSTANTIATE_TEST_CASE_P(
ADXRS450_SpiGyroWrapperTest, ADXRS450_SpiGyroWrapperTest,
::testing::Values(frc::SPI::kOnboardCS0, frc::SPI::kOnboardCS1,
frc::SPI::kOnboardCS2, frc::SPI::kOnboardCS3,
frc::SPI::kMXP));

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simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/main.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2015-2018 FIRST. 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 <HAL/HAL.h>
#include "gtest/gtest.h"
int main(int argc, char** argv) {
HAL_Initialize(500, 0);
::testing::InitGoogleTest(&argc, argv);
int ret = RUN_ALL_TESTS();
return ret;
}