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38 lines
1.4 KiB
C++
38 lines
1.4 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <gtest/gtest.h>
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#include "wpi/math/system/DCMotor.hpp"
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#include "wpi/util/SmallVector.hpp"
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using namespace wpi::math;
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using ProtoType = wpi::util::Protobuf<wpi::math::DCMotor>;
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inline constexpr DCMotor kExpectedData =
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DCMotor{1.91_V, 19.1_Nm, 1.74_A, 2.29_A, 2.2_rad_per_s, 2};
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TEST(DCMotorProtoTest, Roundtrip) {
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wpi::util::ProtobufMessage<decltype(kExpectedData)> message;
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wpi::util::SmallVector<uint8_t, 64> buf;
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ASSERT_TRUE(message.Pack(buf, kExpectedData));
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auto unpacked_data = message.Unpack(buf);
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ASSERT_TRUE(unpacked_data.has_value());
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EXPECT_EQ(kExpectedData.nominalVoltage.value(),
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unpacked_data->nominalVoltage.value());
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EXPECT_EQ(kExpectedData.stallTorque.value(),
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unpacked_data->stallTorque.value());
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EXPECT_EQ(kExpectedData.stallCurrent.value(),
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unpacked_data->stallCurrent.value());
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EXPECT_EQ(kExpectedData.freeCurrent.value(),
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unpacked_data->freeCurrent.value());
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EXPECT_EQ(kExpectedData.freeSpeed.value(), unpacked_data->freeSpeed.value());
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EXPECT_EQ(kExpectedData.R.value(), unpacked_data->R.value());
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EXPECT_EQ(kExpectedData.Kv.value(), unpacked_data->Kv.value());
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EXPECT_EQ(kExpectedData.Kt.value(), unpacked_data->Kt.value());
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}
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