mirror of
https://github.com/wpilibsuite/allwpilib
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43 lines
1.0 KiB
Python
43 lines
1.0 KiB
Python
from wpilib import OnboardIMU
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from wpilib.simulation import OnboardIMUSim
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def test_sim_device() -> None:
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imu = OnboardIMU(OnboardIMU.MountOrientation.FLAT)
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sim = OnboardIMUSim()
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assert 0.0 == imu.getAngleX()
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assert 0.0 == imu.getAngleY()
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assert 0.0 == imu.getAngleZ()
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assert 0.0 == imu.getGyroRateX()
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assert 0.0 == imu.getGyroRateY()
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assert 0.0 == imu.getGyroRateZ()
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assert 0.0 == imu.getAccelX()
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assert 0.0 == imu.getAccelY()
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assert 0.0 == imu.getAccelZ()
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sim.setAngleX(1)
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sim.setAngleY(2)
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sim.setAngleZ(3)
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sim.setGyroRateX(3.504)
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sim.setGyroRateY(1.91)
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sim.setGyroRateZ(22.9)
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sim.setAccelX(-1)
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sim.setAccelY(-2)
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sim.setAccelZ(-3)
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assert 1.0 == imu.getAngleX()
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assert 2.0 == imu.getAngleY()
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assert 3.0 == imu.getAngleZ()
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assert 3.504 == imu.getGyroRateX()
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assert 1.91 == imu.getGyroRateY()
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assert 22.9 == imu.getGyroRateZ()
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assert -1.0 == imu.getAccelX()
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assert -2.0 == imu.getAccelY()
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assert -3.0 == imu.getAccelZ()
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