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e09293a15e
A lot of these are breaking changes. frc::Timer was replaced with the contents of frc2::Timer. The others were in-place argument changes or removing deprecated non-unit overloads.
48 lines
1.3 KiB
C++
48 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 "frc/AnalogPotentiometer.h" // NOLINT(build/include_order)
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#include "TestBench.h"
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#include "frc/AnalogOutput.h"
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#include "frc/RobotController.h"
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#include "frc/Timer.h"
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#include "gtest/gtest.h"
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using namespace frc;
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static const double kScale = 270.0;
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static const double kAngle = 180.0;
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class AnalogPotentiometerTest : public testing::Test {
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protected:
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AnalogOutput* m_fakePot;
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AnalogPotentiometer* m_pot;
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void SetUp() override {
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m_fakePot = new AnalogOutput(TestBench::kAnalogOutputChannel);
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m_pot =
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new AnalogPotentiometer(TestBench::kFakeAnalogOutputChannel, kScale);
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}
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void TearDown() override {
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delete m_fakePot;
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delete m_pot;
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}
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};
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TEST_F(AnalogPotentiometerTest, TestInitialSettings) {
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m_fakePot->SetVoltage(0.0);
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Wait(0.1_s);
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EXPECT_NEAR(0.0, m_pot->Get(), 5.0)
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<< "The potentiometer did not initialize to 0.";
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}
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TEST_F(AnalogPotentiometerTest, TestRangeValues) {
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m_fakePot->SetVoltage(kAngle / kScale * RobotController::GetVoltage5V());
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Wait(0.1_s);
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EXPECT_NEAR(kAngle, m_pot->Get(), 2.0)
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<< "The potentiometer did not measure the correct angle.";
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}
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