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93523d572e
The command and shuffleboard integration tests were removed because their unit tests counterparts already provide adequate coverage. Java already removed these.
35 lines
1.2 KiB
C++
35 lines
1.2 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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static constexpr double kScale = 270.0;
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static constexpr double kAngle = 180.0;
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TEST(AnalogPotentiometerTest, TestInitialSettings) {
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frc::AnalogOutput m_fakePot{TestBench::kAnalogOutputChannel};
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frc::AnalogPotentiometer m_pot{TestBench::kFakeAnalogOutputChannel, kScale};
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m_fakePot.SetVoltage(0.0);
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frc::Wait(100_ms);
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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(AnalogPotentiometerTest, TestRangeValues) {
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frc::AnalogOutput m_fakePot{TestBench::kAnalogOutputChannel};
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frc::AnalogPotentiometer m_pot{TestBench::kFakeAnalogOutputChannel, kScale};
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m_fakePot.SetVoltage(kAngle / kScale * frc::RobotController::GetVoltage5V());
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frc::Wait(100_ms);
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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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