C++ testing

Made a toplevel directory for C++ and C++ tests

Change-Id: I4bc2074a7036ec7fe79568b411637a5bee9eb5b3

Added the C++ testing framework and one test

Change-Id: I1e80a1e16b251a49666820a9d4c8caa025da9785

wpilibc/wpilibC++IntegrationTests/src/TiltPanCameraTest.cpp

@@ -0,0 +1,71 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014. 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 "WPILib.h"
+#include "gtest/gtest.h"
+
+/**
+ * A class to represent the camera with tilt and pan servos and a gyro
+ * 
+ * @author Thomas Clark
+ */
+class TiltPanCameraTest : public testing::Test {
+protected:	
+	Servo *m_tilt, *m_pan;
+	Gyro *m_gyro;
+	
+	static const double RESET_TIME = 1.0;
+	
+	virtual void SetUp() {
+		m_gyro = new Gyro(1);
+		m_gyro->SetSensitivity(0.007);
+		
+		Wait(RESET_TIME);
+		
+		m_tilt = new Servo(10);
+		m_pan = new Servo(9);
+	}
+	
+	virtual void TearDown() {
+		delete m_tilt;
+		delete m_pan;
+		delete m_gyro;
+	}
+	
+	void Reset() {
+		m_tilt->SetAngle(0.0);
+		m_pan->SetAngle(0.0);
+		
+		Wait(RESET_TIME);
+		
+		m_gyro->Reset();
+	}
+};
+
+
+/**
+ * Test if the servo turns 180 degrees and the gyroscope measures this angle
+ */
+TEST_F(TiltPanCameraTest, GyroAngle) {
+	const double TEST_ANGLE = 180.0;
+	
+	Reset();
+	
+	for(int i = 0; i < 100; i++) {
+		m_pan->Set(i / 100.0);
+		Wait(0.05);
+	}
+	
+	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"; 
+}
+
+