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wpilibj/src/test/java/org/wpilib/simulation/ADXL345SimTest.java

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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.
+
+package edu.wpi.first.wpilibj.simulation;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.ADXL345_I2C;
+import edu.wpi.first.wpilibj.I2C;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.EnumSource;
+
+class ADXL345SimTest {
+  @ParameterizedTest
+  @EnumSource(ADXL345_I2C.Range.class)
+  void testInitI2C(ADXL345_I2C.Range range) {
+    HAL.initialize(500, 0);
+
+    try (ADXL345_I2C accel = new ADXL345_I2C(I2C.Port.kPort0, range)) {
+      ADXL345Sim sim = new ADXL345Sim(accel);
+
+      sim.setX(1.91);
+      sim.setY(-3.405);
+      sim.setZ(2.29);
+
+      assertEquals(1.91, accel.getX());
+      assertEquals(-3.405, accel.getY());
+      assertEquals(2.29, accel.getZ());
+
+      ADXL345_I2C.AllAxes allAccel = accel.getAccelerations();
+      assertEquals(1.91, allAccel.XAxis);
+      assertEquals(-3.405, allAccel.YAxis);
+      assertEquals(2.29, allAccel.ZAxis);
+    }
+  }
+}