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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.
27 lines
943 B
C++
27 lines
943 B
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/BuiltInAccelerometer.h" // NOLINT(build/include_order)
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#include "frc/Timer.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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frc::BuiltInAccelerometer accelerometer;
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// The testbench sometimes shakes a little from a previous test. Give it some
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// time.
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frc::Wait(1_s);
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ASSERT_NEAR(0.0, accelerometer.GetX(), kAccelerationTolerance);
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ASSERT_NEAR(1.0, accelerometer.GetY(), kAccelerationTolerance);
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ASSERT_NEAR(0.0, accelerometer.GetZ(), kAccelerationTolerance);
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}
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