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05626cfafe
* Fixed cpplint.py [build/include_order] and [build/include_what_you_use] warnings * Fixed cpplint.py [readability/casting] warnings * Updated .styleguide format * Fixed cpplint.py [build/header_guard] warnings
29 lines
1.2 KiB
C++
29 lines
1.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014-2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "BuiltInAccelerometer.h"
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#include "Timer.h"
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#include "gtest/gtest.h"
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static constexpr double kAccelerationTolerance = 0.1;
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/**
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* There's not much we can automatically test with the on-board accelerometer,
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* but checking for gravity is probably good enough to tell that it's working.
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*/
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TEST(BuiltInAccelerometerTest, Accelerometer) {
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BuiltInAccelerometer accelerometer;
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/* The testbench sometimes shakes a little from a previous test. Give it
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some time. */
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Wait(1.0);
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ASSERT_NEAR(0.0, accelerometer.GetX(), kAccelerationTolerance);
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ASSERT_NEAR(1.0, accelerometer.GetY(), kAccelerationTolerance);
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ASSERT_NEAR(0.0, accelerometer.GetZ(), kAccelerationTolerance);
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}
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