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Dependencies:   LedController mbed-rtos mbed NerfUSXbee Servomotor TargetManager

Fork of NerfUS by NerfUS

TESTS/ServomotorTest.cpp@16:fba7c8e39388, 2017-02-26 (annotated)

Committer:
Maxime Dupuis
Date:
Sun Feb 26 10:20:18 2017 -0500
Revision:
16:fba7c8e39388
Child:
27:3ae7c62008ea
Add tests for servomotor



Test strategy:



- Servomotor depends on PwmOutInterface (via dependency injection)

- In the real app, we will use RealPwmOut, which will simply

  delegate all calls to mbed's PwmOut

- In unit tests, we will create a MockPwmOut to test that it gets

  used properly

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 16:fba7c8e39388 5 #include "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 16:fba7c8e39388 12 EXPECT_CALL(mock_pwm_out, pulsewidth_ms(1))
Maxime Dupuis 16:fba7c8e39388 13 .Times(1);
Maxime Dupuis 16:fba7c8e39388 14
Maxime Dupuis 16:fba7c8e39388 15 servomotor.set_position_down();
Maxime Dupuis 16:fba7c8e39388 16 }
Maxime Dupuis 16:fba7c8e39388 17
Maxime Dupuis 16:fba7c8e39388 18 TEST(ServomotorTest, SetPositionUp)
Maxime Dupuis 16:fba7c8e39388 19 {
Maxime Dupuis 16:fba7c8e39388 20 MockPwmOut mock_pwm_out;
Maxime Dupuis 16:fba7c8e39388 21 Servomotor servomotor(mock_pwm_out);
Maxime Dupuis 16:fba7c8e39388 22
Maxime Dupuis 16:fba7c8e39388 23 EXPECT_CALL(mock_pwm_out, pulsewidth_ms(1.5))
Maxime Dupuis 16:fba7c8e39388 24 .Times(1);
Maxime Dupuis 16:fba7c8e39388 25
Maxime Dupuis 16:fba7c8e39388 26 servomotor.set_position_up();
Maxime Dupuis 16:fba7c8e39388 27 }
Maxime Dupuis 16:fba7c8e39388 28