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https://github.com/wpilibsuite/allwpilib
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53 lines
1.5 KiB
C++
53 lines
1.5 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 <gtest/gtest.h>
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#include "wpi/hal/HAL.h"
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#include "wpi/hardware/pneumatic/DoubleSolenoid.hpp"
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#include "wpi/hardware/pneumatic/PneumaticsControlModule.hpp"
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#include "wpi/hardware/pneumatic/Solenoid.hpp"
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namespace wpi {
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TEST(SolenoidREVTest, ValidInitialization) {
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Solenoid solenoid{0, 3, wpi::PneumaticsModuleType::REVPH, 2};
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EXPECT_EQ(2, solenoid.GetChannel());
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solenoid.Set(true);
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EXPECT_TRUE(solenoid.Get());
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solenoid.Set(false);
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EXPECT_FALSE(solenoid.Get());
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}
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TEST(SolenoidREVTest, DoubleInitialization) {
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Solenoid solenoid{0, 3, wpi::PneumaticsModuleType::REVPH, 2};
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EXPECT_THROW(Solenoid(0, 3, wpi::PneumaticsModuleType::REVPH, 2),
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std::runtime_error);
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}
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TEST(SolenoidREVTest, DoubleInitializationFromDoubleSolenoid) {
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DoubleSolenoid solenoid{0, 3, wpi::PneumaticsModuleType::REVPH, 2, 3};
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EXPECT_THROW(Solenoid(0, 3, wpi::PneumaticsModuleType::REVPH, 2),
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std::runtime_error);
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}
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TEST(SolenoidREVTest, InvalidChannel) {
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EXPECT_THROW(Solenoid(0, 3, wpi::PneumaticsModuleType::REVPH, 100),
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std::runtime_error);
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}
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TEST(SolenoidREVTest, Toggle) {
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Solenoid solenoid{0, 3, wpi::PneumaticsModuleType::REVPH, 2};
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solenoid.Set(true);
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EXPECT_TRUE(solenoid.Get());
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solenoid.Toggle();
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EXPECT_FALSE(solenoid.Get());
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solenoid.Toggle();
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EXPECT_TRUE(solenoid.Get());
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}
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} // namespace wpi
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