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https://github.com/wpilibsuite/allwpilib
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d466d17edd
Also disable PCM tests until it's actually wired right Change-Id: I431031f66aaaa87fa201e577fedef5a1952c1bb4
64 lines
1.8 KiB
C++
64 lines
1.8 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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#include "TestBench.h"
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static const double kDelayTime = 0.01;
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class FakeEncoderTest : public testing::Test {
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protected:
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Encoder *m_encoder;
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DigitalOutput *m_outputA;
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DigitalOutput *m_outputB;
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virtual void SetUp() {
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m_outputA = new DigitalOutput(TestBench::kLoop2OutputChannel);
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m_outputB = new DigitalOutput(TestBench::kLoop1OutputChannel);
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m_encoder = new Encoder(TestBench::kLoop1InputChannel, TestBench::kLoop2InputChannel);
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}
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virtual void TearDown() {
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delete m_encoder;
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delete m_outputA;
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delete m_outputB;
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}
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};
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/**
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* Test the encoder by reseting it to 0 and reading the value.
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*/
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TEST_F(FakeEncoderTest, TestDefaultState) {
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EXPECT_FLOAT_EQ(0.0f, m_encoder->Get())
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<< "The encoder did not start at 0.";
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}
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/**
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* Test the encoder by setting the digital outputs and reading the value.
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*/
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TEST_F(FakeEncoderTest, TestCountUp) {
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m_outputA->Set(false);
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m_outputB->Set(false);
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m_encoder->Reset();
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//Sets the outputs such that the encoder moves in the positive direction
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for(int i = 0; i < 100; i++) {
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m_outputA->Set(true);
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Wait(kDelayTime);
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m_outputB->Set(true);
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Wait(kDelayTime);
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m_outputA->Set(false);
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Wait(kDelayTime);
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m_outputB->Set(false);
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Wait(kDelayTime);
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}
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EXPECT_FLOAT_EQ(100.0f, m_encoder->Get())
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<< "Encoder did not count to 100.";
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}
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