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https://github.com/wpilibsuite/allwpilib
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27 lines
1.1 KiB
C++
27 lines
1.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "WPILib.h"
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#include "gtest/gtest.h"
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static constexpr double kAccelerationTolerance = 0.1;
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/**
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* There's not much we can automatically test with the on-board accelerometer,
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* but checking for gravity is probably good enough to tell that it's working.
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*/
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TEST(BuiltInAccelerometerTest, Accelerometer) {
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BuiltInAccelerometer accelerometer;
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/* The testbench sometimes shakes a little from a previous test. Give it
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some time. */
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Wait(1.0);
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ASSERT_NEAR(0.0, accelerometer.GetX(), kAccelerationTolerance);
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ASSERT_NEAR(0.0, accelerometer.GetY(), kAccelerationTolerance);
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ASSERT_NEAR(1.0, accelerometer.GetZ(), kAccelerationTolerance);
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}
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