From f4d542b21201c9f4480b4f260534dc3f0fc451f1 Mon Sep 17 00:00:00 2001
From: Kacper Puczydlowski <k.puczydlowski@gmail.com>
Date: Mon, 23 Jun 2014 11:18:27 -0400
Subject: [PATCH] Add FakeEncoderTest for C++

Change-Id: Ic030a1d055a03f5b245e19e6466af05e72dd7deb
---
 .../src/FakeEncoderTest.cpp                   | 59 +++++++++++++++++++
 1 file changed, 59 insertions(+)
 create mode 100644 wpilibc/wpilibC++IntegrationTests/src/FakeEncoderTest.cpp

diff --git a/wpilibc/wpilibC++IntegrationTests/src/FakeEncoderTest.cpp b/wpilibc/wpilibC++IntegrationTests/src/FakeEncoderTest.cpp
new file mode 100644
index 0000000000..ac1b70456c
--- /dev/null
+++ b/wpilibc/wpilibC++IntegrationTests/src/FakeEncoderTest.cpp
@@ -0,0 +1,59 @@
+/*----------------------------------------------------------------------------*/
+/* 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"
+#include "TestBench.h"
+
+static const double kDelayTime = 0.001;
+
+class FakeEncoderTest : public testing::Test {
+protected:
+	Encoder *m_encoder;
+	DigitalOutput *m_outputA;
+	DigitalOutput *m_outputB;
+
+	virtual void SetUp() {
+		m_outputA = new DigitalOutput(TestBench::kLoop2OutputChannel);
+		m_outputB = new DigitalOutput(TestBench::kLoop1OutputChannel);
+		m_encoder = new Encoder(TestBench::kLoop1InputChannel, TestBench::kLoop2InputChannel);
+	}
+
+	virtual void TearDown() {
+		delete m_encoder;
+		delete m_outputA;
+		delete m_outputB;
+	}
+};
+
+/**
+ * Test the encoder by reseting it to 0 and reading the value.
+ */
+TEST_F(FakeEncoderTest, TestDefaultState) {
+	EXPECT_FLOAT_EQ(0.0f, m_encoder->Get())
+		<< "The encoder did not start at 0.";
+}
+
+/**
+ * Test the encoder by setting the digital outputs and reading the value.
+ */
+TEST_F(FakeEncoderTest, TestCountUp) {
+	//Sets the outputs such that the encoder moves in the positive direction
+	for(int i = 0; i < 100; i++) {
+		m_outputA->Set(true);
+		Wait(kDelayTime);
+		m_outputB->Set(true);
+		Wait(kDelayTime);
+		m_outputA->Set(false);
+		Wait(kDelayTime);
+		m_outputB->Set(false);
+		Wait(kDelayTime);
+	}
+
+	EXPECT_FLOAT_EQ(100.0f, m_encoder->Get())
+		<< "Encoder did not count to 100.";
+}