mirror of
https://github.com/wpilibsuite/allwpilib
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d82635bbe1
Subsections are alphabetized according to lexographic ordering. Also, HAL includes were moved from headers to source files where possible. This change may cause user code which uses HAL functionality and does not include the relevant HAL header (since it may have been provided by another WPILib header) to fail to compile.
60 lines
1.7 KiB
C++
60 lines
1.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014-2016. 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 "PowerDistributionPanel.h"
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#include "gtest/gtest.h"
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#include "Jaguar.h"
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#include "Talon.h"
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#include "TestBench.h"
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#include "Timer.h"
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#include "Victor.h"
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static const double kMotorTime = 0.25;
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class PowerDistributionPanelTest : public testing::Test {
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protected:
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PowerDistributionPanel* m_pdp;
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Talon* m_talon;
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Victor* m_victor;
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Jaguar* m_jaguar;
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virtual void SetUp() override {
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m_pdp = new PowerDistributionPanel();
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m_talon = new Talon(TestBench::kTalonChannel);
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m_victor = new Victor(TestBench::kVictorChannel);
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m_jaguar = new Jaguar(TestBench::kJaguarChannel);
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}
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virtual void TearDown() override {
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delete m_pdp;
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delete m_talon;
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delete m_victor;
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delete m_jaguar;
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}
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};
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/**
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* Test if the current changes when the motor is driven using a talon
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*/
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TEST_F(PowerDistributionPanelTest, CheckCurrentTalon) {
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Wait(kMotorTime);
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/* The Current should be 0 */
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EXPECT_FLOAT_EQ(0, m_pdp->GetCurrent(TestBench::kTalonPDPChannel))
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<< "The Talon current was non-zero";
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/* Set the motor to full forward */
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m_talon->Set(1.0);
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Wait(kMotorTime);
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/* The current should now be positive */
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ASSERT_GT(m_pdp->GetCurrent(TestBench::kTalonPDPChannel), 0)
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<< "The Talon current was not positive";
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}
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