mirror of
https://github.com/wpilibsuite/allwpilib
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8f1f64ffb6
Also update copyright to include "and other WPILib contributors" and clarify license referral language to not be restricted to FIRST teams.
72 lines
2.4 KiB
C++
72 lines
2.4 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/XboxController.h" // NOLINT(build/include_order)
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#include "frc/simulation/XboxControllerSim.h"
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#include "gtest/gtest.h"
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using namespace frc;
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TEST(XboxControllerTests, GetX) {
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XboxController joy{2};
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sim::XboxControllerSim joysim{joy};
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joysim.SetX(XboxController::kLeftHand, 0.35);
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joysim.SetX(XboxController::kRightHand, 0.45);
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joysim.NotifyNewData();
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ASSERT_NEAR(joy.GetX(XboxController::kLeftHand), 0.35, 0.001);
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ASSERT_NEAR(joy.GetX(XboxController::kRightHand), 0.45, 0.001);
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}
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TEST(XboxControllerTests, GetBumper) {
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XboxController joy{1};
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sim::XboxControllerSim joysim{joy};
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joysim.SetBumper(XboxController::kLeftHand, false);
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joysim.SetBumper(XboxController::kRightHand, true);
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joysim.NotifyNewData();
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ASSERT_FALSE(joy.GetBumper(XboxController::kLeftHand));
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ASSERT_TRUE(joy.GetBumper(XboxController::kRightHand));
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// need to call pressed and released to clear flags
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joy.GetBumperPressed(XboxController::kLeftHand);
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joy.GetBumperReleased(XboxController::kLeftHand);
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joy.GetBumperPressed(XboxController::kRightHand);
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joy.GetBumperReleased(XboxController::kRightHand);
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joysim.SetBumper(XboxController::kLeftHand, true);
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joysim.SetBumper(XboxController::kRightHand, false);
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joysim.NotifyNewData();
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ASSERT_TRUE(joy.GetBumper(XboxController::kLeftHand));
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ASSERT_TRUE(joy.GetBumperPressed(XboxController::kLeftHand));
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ASSERT_FALSE(joy.GetBumperReleased(XboxController::kLeftHand));
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ASSERT_FALSE(joy.GetBumper(XboxController::kRightHand));
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ASSERT_FALSE(joy.GetBumperPressed(XboxController::kRightHand));
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ASSERT_TRUE(joy.GetBumperReleased(XboxController::kRightHand));
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}
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TEST(XboxControllerTests, GetAButton) {
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XboxController joy{1};
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sim::XboxControllerSim joysim{joy};
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joysim.SetAButton(false);
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joysim.NotifyNewData();
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ASSERT_FALSE(joy.GetAButton());
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// need to call pressed and released to clear flags
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joy.GetAButtonPressed();
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joy.GetAButtonReleased();
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joysim.SetAButton(true);
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joysim.NotifyNewData();
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ASSERT_TRUE(joy.GetAButton());
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ASSERT_TRUE(joy.GetAButtonPressed());
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ASSERT_FALSE(joy.GetAButtonReleased());
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joysim.SetAButton(false);
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joysim.NotifyNewData();
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ASSERT_FALSE(joy.GetAButton());
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ASSERT_FALSE(joy.GetAButtonPressed());
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ASSERT_TRUE(joy.GetAButtonReleased());
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}
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