mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
7eb8550bdb
The changes made in this commit do not affect any actual code,
they are purely aesthetic. I ran clang-format with google style
over all .h/.cpp files in wpilibc that weren't in wpilibC++Sim
or gtest, and the eclipse formatter over all of the Java files
using the Google eclipse formatting configuration.
Change-Id: I9627bca0bc103c398ecc1c5ba17467193291ae63
65 lines
2.0 KiB
C++
65 lines
2.0 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2014. 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 "WPILib.h"
|
|
#include "gtest/gtest.h"
|
|
#include "TestBench.h"
|
|
#include "Relay.h"
|
|
|
|
static const double kDelayTime = 0.01;
|
|
|
|
class RelayTest : public testing::Test {
|
|
protected:
|
|
Relay *m_relay;
|
|
DigitalInput *m_forward;
|
|
DigitalInput *m_reverse;
|
|
|
|
virtual void SetUp() override {
|
|
m_relay = new Relay(TestBench::kRelayChannel);
|
|
m_forward = new DigitalInput(TestBench::kFakeRelayForward);
|
|
m_reverse = new DigitalInput(TestBench::kFakeRelayReverse);
|
|
}
|
|
|
|
virtual void TearDown() override {
|
|
delete m_relay;
|
|
delete m_forward;
|
|
delete m_reverse;
|
|
}
|
|
|
|
virtual void Reset() { m_relay->Set(Relay::kOff); }
|
|
};
|
|
/**
|
|
* Test the relay by setting it forward, reverse, off, and on.
|
|
*/
|
|
TEST_F(RelayTest, Relay) {
|
|
Reset();
|
|
|
|
// set the relay to forward
|
|
m_relay->Set(Relay::kForward);
|
|
Wait(kDelayTime);
|
|
EXPECT_TRUE(m_forward->Get()) << "Relay did not set forward";
|
|
EXPECT_FALSE(m_reverse->Get()) << "Relay did not set forward";
|
|
|
|
// set the relay to reverse
|
|
m_relay->Set(Relay::kReverse);
|
|
Wait(kDelayTime);
|
|
EXPECT_TRUE(m_reverse->Get()) << "Relay did not set reverse";
|
|
EXPECT_FALSE(m_forward->Get()) << "Relay did not set reverse";
|
|
|
|
// set the relay to off
|
|
m_relay->Set(Relay::kOff);
|
|
Wait(kDelayTime);
|
|
EXPECT_FALSE(m_forward->Get()) << "Relay did not set off";
|
|
EXPECT_FALSE(m_reverse->Get()) << "Relay did not set off";
|
|
|
|
// set the relay to on
|
|
m_relay->Set(Relay::kOn);
|
|
Wait(kDelayTime);
|
|
EXPECT_TRUE(m_forward->Get()) << "Relay did not set on";
|
|
EXPECT_TRUE(m_reverse->Get()) << "Relay did not set on";
|
|
}
|