mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
76 lines
2.6 KiB
C++
76 lines
2.6 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
#include <gtest/gtest.h>
|
|
|
|
#include "wpi/hal/HAL.h"
|
|
#include "wpi/hardware/pneumatic/DoubleSolenoid.hpp"
|
|
#include "wpi/hardware/pneumatic/PneumaticsControlModule.hpp"
|
|
#include "wpi/hardware/pneumatic/Solenoid.hpp"
|
|
|
|
namespace wpi {
|
|
|
|
TEST(DoubleSolenoidCTRETest, ValidInitialization) {
|
|
DoubleSolenoid solenoid{0, 3, wpi::PneumaticsModuleType::CTREPCM, 2, 3};
|
|
solenoid.Set(DoubleSolenoid::kReverse);
|
|
EXPECT_EQ(DoubleSolenoid::kReverse, solenoid.Get());
|
|
|
|
solenoid.Set(DoubleSolenoid::kForward);
|
|
EXPECT_EQ(DoubleSolenoid::kForward, solenoid.Get());
|
|
|
|
solenoid.Set(DoubleSolenoid::kOff);
|
|
EXPECT_EQ(DoubleSolenoid::kOff, solenoid.Get());
|
|
}
|
|
|
|
TEST(DoubleSolenoidCTRETest, ThrowForwardPortAlreadyInitialized) {
|
|
// Single solenoid that is reused for forward port
|
|
Solenoid solenoid{0, 5, wpi::PneumaticsModuleType::CTREPCM, 2};
|
|
EXPECT_THROW(DoubleSolenoid(0, 5, wpi::PneumaticsModuleType::CTREPCM, 2, 3),
|
|
std::runtime_error);
|
|
}
|
|
|
|
TEST(DoubleSolenoidCTRETest, ThrowReversePortAlreadyInitialized) {
|
|
// Single solenoid that is reused for forward port
|
|
Solenoid solenoid{0, 6, wpi::PneumaticsModuleType::CTREPCM, 3};
|
|
EXPECT_THROW(DoubleSolenoid(6, wpi::PneumaticsModuleType::CTREPCM, 2, 3),
|
|
std::runtime_error);
|
|
}
|
|
|
|
TEST(DoubleSolenoidCTRETest, ThrowBothPortsAlreadyInitialized) {
|
|
PneumaticsControlModule pcm{0, 6};
|
|
// Single solenoid that is reused for forward port
|
|
Solenoid solenoid0(0, 6, wpi::PneumaticsModuleType::CTREPCM, 2);
|
|
Solenoid solenoid1(0, 6, wpi::PneumaticsModuleType::CTREPCM, 3);
|
|
EXPECT_THROW(DoubleSolenoid(6, wpi::PneumaticsModuleType::CTREPCM, 2, 3),
|
|
std::runtime_error);
|
|
}
|
|
|
|
TEST(DoubleSolenoidCTRETest, Toggle) {
|
|
DoubleSolenoid solenoid{0, 4, wpi::PneumaticsModuleType::CTREPCM, 2, 3};
|
|
// Bootstrap it into reverse
|
|
solenoid.Set(DoubleSolenoid::kReverse);
|
|
|
|
solenoid.Toggle();
|
|
EXPECT_EQ(DoubleSolenoid::kForward, solenoid.Get());
|
|
|
|
solenoid.Toggle();
|
|
EXPECT_EQ(DoubleSolenoid::kReverse, solenoid.Get());
|
|
|
|
// Of shouldn't do anything on toggle
|
|
solenoid.Set(DoubleSolenoid::kOff);
|
|
solenoid.Toggle();
|
|
EXPECT_EQ(DoubleSolenoid::kOff, solenoid.Get());
|
|
}
|
|
|
|
TEST(DoubleSolenoidCTRETest, InvalidForwardPort) {
|
|
EXPECT_THROW(DoubleSolenoid(0, 0, wpi::PneumaticsModuleType::CTREPCM, 100, 1),
|
|
std::runtime_error);
|
|
}
|
|
|
|
TEST(DoubleSolenoidCTRETest, InvalidReversePort) {
|
|
EXPECT_THROW(DoubleSolenoid(0, 0, wpi::PneumaticsModuleType::CTREPCM, 0, 100),
|
|
std::runtime_error);
|
|
}
|
|
} // namespace wpi
|