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Dependencies:   LedController mbed-rtos mbed NerfUSXbee Servomotor TargetManager

Fork of NerfUS by NerfUS

TESTS/ServomotorTest.cpp@45:e4bf209c1e54, 2017-04-11 (annotated)

Committer:
Maxime Dupuis
Date:
Tue Apr 11 10:32:30 2017 -0400
Revision:
45:e4bf209c1e54
Parent:
42:efbb785e7740
Child:
49:4475f0760594
Fix tests after changes to Servomotor and Target

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Maxime Dupuis 16:fba7c8e39388 1 #include "gmock/gmock.h"
Maxime Dupuis 16:fba7c8e39388 2 #include "gtest/gtest.h"
Maxime Dupuis 16:fba7c8e39388 3
Maxime Dupuis 16:fba7c8e39388 4 #include "Servomotor.hpp"
Maxime Dupuis 27:3ae7c62008ea 5 #include "mocks/MockPwmOut.hpp"
Maxime Dupuis 16:fba7c8e39388 6
Maxime Dupuis 16:fba7c8e39388 7 TEST(ServomotorTest, SetPositionDown)
Maxime Dupuis 16:fba7c8e39388 8 {
Maxime Dupuis 16:fba7c8e39388 9 MockPwmOut mock_pwm_out;
Maxime Dupuis 16:fba7c8e39388 10 Servomotor servomotor(mock_pwm_out);
Maxime Dupuis 16:fba7c8e39388 11
Maxime Dupuis 45:e4bf209c1e54 12 int actual_pwm_duty_cycle_us;
Maxime Dupuis 45:e4bf209c1e54 13 EXPECT_CALL(mock_pwm_out, pulsewidth_us(::testing::_))
Maxime Dupuis 45:e4bf209c1e54 14 .WillOnce(::testing::SaveArg<0>(&actual_pwm_duty_cycle_us));
Maxime Dupuis 16:fba7c8e39388 15
Maxime Dupuis 16:fba7c8e39388 16 servomotor.set_position_down();
Maxime Dupuis 45:e4bf209c1e54 17
Maxime Dupuis 45:e4bf209c1e54 18 EXPECT_GE(actual_pwm_duty_cycle_us, 0);
Maxime Dupuis 45:e4bf209c1e54 19 EXPECT_LE(actual_pwm_duty_cycle_us, 1500);
Maxime Dupuis 16:fba7c8e39388 20 }
Maxime Dupuis 16:fba7c8e39388 21
Maxime Dupuis 16:fba7c8e39388 22 TEST(ServomotorTest, SetPositionUp)
Maxime Dupuis 16:fba7c8e39388 23 {
Maxime Dupuis 16:fba7c8e39388 24 MockPwmOut mock_pwm_out;
Maxime Dupuis 16:fba7c8e39388 25 Servomotor servomotor(mock_pwm_out);
Maxime Dupuis 16:fba7c8e39388 26
Maxime Dupuis 45:e4bf209c1e54 27 EXPECT_CALL(mock_pwm_out, pulsewidth_us(1500))
Maxime Dupuis 16:fba7c8e39388 28 .Times(1);
Maxime Dupuis 16:fba7c8e39388 29
Maxime Dupuis 16:fba7c8e39388 30 servomotor.set_position_up();
Maxime Dupuis 16:fba7c8e39388 31 }
Maxime Dupuis 16:fba7c8e39388 32