Claw-test.h

00001 #ifndef CLAW_TEST_H
00002 #define CLAW_TEST_H
00003 
00004 /**
00005  * \brief Check that Claw object goes to correct position when moved
00006  * 
00007  * \returns true if all the tests passed
00008  */
00009 bool Claw_test_movement()
00010 {
00011     // Initialise Claw object with a winch width of 12
00012     Claw claw;
00013     claw.init(12);
00014 
00015     // Set the position to 42,15
00016     Vector2D initial_pos = {42, 15};
00017     claw.set_pos(initial_pos);
00018 
00019     // Read the position
00020     Vector2D read_pos_1 = claw.get_pos();
00021     printf("%f, %f\n", read_pos_1.x, read_pos_1.y);
00022 
00023     // Set the velocity to 1
00024     float velocity = 1.0;
00025     claw.set_velocity(velocity);
00026 
00027     // Update the position
00028     Vector2D winch_pos = {35,9};
00029     claw.update(winch_pos);
00030 
00031     // Read the position
00032     Vector2D read_pos_2 = claw.get_pos();
00033     printf("%f, %f\n", read_pos_2.x, read_pos_2.y);
00034     
00035     // Now check that both the positions are as expected
00036     bool success_flag = true;
00037     
00038     // Fail the test if the initial position is wrong
00039     if (read_pos_1.x != 42 || read_pos_1.y != 15) {
00040         success_flag = false;
00041     }
00042     
00043     // Fail the test if the final position is wrong
00044     if (read_pos_2.x != 41 || read_pos_2.y != 16) {
00045         success_flag = false;
00046     }
00047     return success_flag;
00048 }
00049 #endif