mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-23 01:21:42 +00:00
d82635bbe1
Subsections are alphabetized according to lexographic ordering. Also, HAL includes were moved from headers to source files where possible. This change may cause user code which uses HAL functionality and does not include the relevant HAL header (since it may have been provided by another WPILib header) to fail to compile.
63 lines
2.0 KiB
C++
63 lines
2.0 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2015-2016. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#include "DigitalGlitchFilter.h"
|
|
|
|
#include "gtest/gtest.h"
|
|
|
|
#include "Counter.h"
|
|
#include "DigitalInput.h"
|
|
#include "Encoder.h"
|
|
|
|
/**
|
|
* Tests that configuring inputs to be filtered succeeds.
|
|
*
|
|
* This test actually tests everything except that the actual FPGA
|
|
* implementation works as intended. We configure the FPGA and then query it to
|
|
* make sure that the acutal configuration matches.
|
|
*/
|
|
TEST(DigitalGlitchFilterTest, BasicTest) {
|
|
DigitalInput input1(1);
|
|
DigitalInput input2(2);
|
|
DigitalInput input3(3);
|
|
DigitalInput input4(4);
|
|
Encoder encoder5(5, 6);
|
|
Counter counter7(7);
|
|
|
|
// Check that we can make a single filter and set the period.
|
|
DigitalGlitchFilter filter1;
|
|
filter1.Add(&input1);
|
|
filter1.SetPeriodNanoSeconds(4200);
|
|
|
|
// Check that we can make a second filter with 2 inputs.
|
|
DigitalGlitchFilter filter2;
|
|
filter2.Add(&input2);
|
|
filter2.Add(&input3);
|
|
filter2.SetPeriodNanoSeconds(97100);
|
|
|
|
// Check that we can make a third filter with an input, an encoder, and a
|
|
// counter.
|
|
DigitalGlitchFilter filter3;
|
|
filter3.Add(&input4);
|
|
filter3.Add(&encoder5);
|
|
filter3.Add(&counter7);
|
|
filter3.SetPeriodNanoSeconds(167800);
|
|
|
|
// Verify that the period was properly set for all 3 filters.
|
|
EXPECT_EQ(4200u, filter1.GetPeriodNanoSeconds());
|
|
EXPECT_EQ(97100u, filter2.GetPeriodNanoSeconds());
|
|
EXPECT_EQ(167800u, filter3.GetPeriodNanoSeconds());
|
|
|
|
// Clean up.
|
|
filter1.Remove(&input1);
|
|
filter2.Remove(&input2);
|
|
filter2.Remove(&input3);
|
|
filter3.Remove(&input4);
|
|
filter3.Remove(&encoder5);
|
|
filter3.Remove(&counter7);
|
|
}
|