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28 lines
900 B
C++
28 lines
900 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 <hal/HAL.h>
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#include <units/math.h>
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#include <wpi/numbers>
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#include "frc/AnalogEncoder.h"
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#include "frc/AnalogInput.h"
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#include "frc/simulation/AnalogEncoderSim.h"
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#include "gtest/gtest.h"
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#define EXPECT_NEAR_UNITS(val1, val2, eps) \
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EXPECT_LE(units::math::abs(val1 - val2), eps)
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TEST(AnalogEncoderSimTest, TestBasic) {
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frc::AnalogInput ai(0);
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frc::AnalogEncoder encoder{ai};
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frc::sim::AnalogEncoderSim encoderSim{encoder};
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encoderSim.SetPosition(180_deg);
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EXPECT_NEAR(encoder.Get().to<double>(), 0.5, 1E-8);
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EXPECT_NEAR(encoderSim.GetTurns().to<double>(), 0.5, 1E-8);
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EXPECT_NEAR(encoderSim.GetPosition().Radians().to<double>(), wpi::numbers::pi,
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1E-8);
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}
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