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36 lines
1.3 KiB
C++
36 lines
1.3 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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using namespace wpi::math;
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using StructType = wpi::util::Struct<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(DCMotorStructTest, Roundtrip) {
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uint8_t buffer[StructType::GetSize()];
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std::memset(buffer, 0, StructType::GetSize());
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StructType::Pack(buffer, kExpectedData);
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DCMotor unpacked_data = StructType::Unpack(buffer);
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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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