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https://github.com/wpilibsuite/allwpilib
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3cd1253977
Years update, references to WIND_BASE were removed, and WPILib license was moved to the root directory of the project. If there was already a comment block, a year range through 2016 was created using the first year in the comment. If there was no comment block, a block with just the year 2016 was added. Comments were not added to files from external sources (NI, CTRE). Change-Id: Iff4f098ab908b90b8d929902dea903de2f596acc
67 lines
2.0 KiB
C++
67 lines
2.0 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 <DigitalInput.h>
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#include <Relay.h>
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#include <Timer.h>
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#include "gtest/gtest.h"
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#include "TestBench.h"
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#include "Relay.h"
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static const double kDelayTime = 0.01;
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class RelayTest : public testing::Test {
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protected:
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Relay *m_relay;
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DigitalInput *m_forward;
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DigitalInput *m_reverse;
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virtual void SetUp() override {
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m_relay = new Relay(TestBench::kRelayChannel);
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m_forward = new DigitalInput(TestBench::kFakeRelayForward);
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m_reverse = new DigitalInput(TestBench::kFakeRelayReverse);
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}
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virtual void TearDown() override {
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delete m_relay;
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delete m_forward;
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delete m_reverse;
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}
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virtual void Reset() { m_relay->Set(Relay::kOff); }
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};
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/**
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* Test the relay by setting it forward, reverse, off, and on.
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*/
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TEST_F(RelayTest, Relay) {
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Reset();
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// set the relay to forward
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m_relay->Set(Relay::kForward);
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Wait(kDelayTime);
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EXPECT_TRUE(m_forward->Get()) << "Relay did not set forward";
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EXPECT_FALSE(m_reverse->Get()) << "Relay did not set forward";
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// set the relay to reverse
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m_relay->Set(Relay::kReverse);
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Wait(kDelayTime);
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EXPECT_TRUE(m_reverse->Get()) << "Relay did not set reverse";
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EXPECT_FALSE(m_forward->Get()) << "Relay did not set reverse";
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// set the relay to off
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m_relay->Set(Relay::kOff);
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Wait(kDelayTime);
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EXPECT_FALSE(m_forward->Get()) << "Relay did not set off";
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EXPECT_FALSE(m_reverse->Get()) << "Relay did not set off";
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// set the relay to on
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m_relay->Set(Relay::kOn);
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Wait(kDelayTime);
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EXPECT_TRUE(m_forward->Get()) << "Relay did not set on";
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EXPECT_TRUE(m_reverse->Get()) << "Relay did not set on";
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}
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