Squashed 'third_party/allwpilib_2016/' content from commit 7f61816
Change-Id: If9d9245880859cdf580f5d7f77045135d0521ce7
git-subtree-dir: third_party/allwpilib_2016
git-subtree-split: 7f618166ed253a24629934fcf89c3decb0528a3b
diff --git a/wpilibcIntegrationTests/src/PowerDistributionPanelTest.cpp b/wpilibcIntegrationTests/src/PowerDistributionPanelTest.cpp
new file mode 100644
index 0000000..7dc31fd
--- /dev/null
+++ b/wpilibcIntegrationTests/src/PowerDistributionPanelTest.cpp
@@ -0,0 +1,95 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <Jaguar.h>
+#include <PowerDistributionPanel.h>
+#include <Talon.h>
+#include <Timer.h>
+#include <Victor.h>
+#include "gtest/gtest.h"
+#include "TestBench.h"
+
+static const double kMotorTime = 0.25;
+
+class PowerDistributionPanelTest : public testing::Test {
+ protected:
+ PowerDistributionPanel *m_pdp;
+ Talon *m_talon;
+ Victor *m_victor;
+ Jaguar *m_jaguar;
+
+ virtual void SetUp() override {
+ m_pdp = new PowerDistributionPanel();
+ m_talon = new Talon(TestBench::kTalonChannel);
+ m_victor = new Victor(TestBench::kVictorChannel);
+ m_jaguar = new Jaguar(TestBench::kJaguarChannel);
+ }
+
+ virtual void TearDown() override {
+ delete m_pdp;
+ delete m_talon;
+ delete m_victor;
+ delete m_jaguar;
+ }
+};
+
+/**
+ * Test if the current changes when the motor is driven using a talon
+ */
+TEST_F(PowerDistributionPanelTest, CheckCurrentTalon) {
+ Wait(kMotorTime);
+
+ /* The Current should be 0 */
+ EXPECT_FLOAT_EQ(0, m_pdp->GetCurrent(TestBench::kTalonPDPChannel))
+ << "The Talon current was non-zero";
+
+ /* Set the motor to full forward */
+ m_talon->Set(1.0);
+ Wait(kMotorTime);
+
+ /* The current should now be positive */
+ ASSERT_GT(m_pdp->GetCurrent(TestBench::kTalonPDPChannel), 0)
+ << "The Talon current was not positive";
+}
+
+/**
+ * Test if the current changes when the motor is driven using a victor
+ */
+TEST_F(PowerDistributionPanelTest, CheckCurrentVictor) {
+ Wait(kMotorTime);
+
+ /* The Current should be 0 */
+ EXPECT_FLOAT_EQ(0, m_pdp->GetCurrent(TestBench::kVictorPDPChannel))
+ << "The Victor current was non-zero";
+
+ /* Set the motor to full forward */
+ m_victor->Set(1.0);
+ Wait(kMotorTime);
+
+ /* The current should now be positive */
+ ASSERT_GT(m_pdp->GetCurrent(TestBench::kVictorPDPChannel), 0)
+ << "The Victor current was not positive";
+}
+
+/**
+ * Test if the current changes when the motor is driven using a jaguar
+ */
+TEST_F(PowerDistributionPanelTest, CheckCurrentJaguar) {
+ Wait(kMotorTime);
+
+ /* The Current should be 0 */
+ EXPECT_FLOAT_EQ(0, m_pdp->GetCurrent(TestBench::kJaguarPDPChannel))
+ << "The Jaguar current was non-zero";
+
+ /* Set the motor to full forward */
+ m_jaguar->Set(1.0);
+ Wait(kMotorTime);
+
+ /* The current should now be positive */
+ ASSERT_GT(m_pdp->GetCurrent(TestBench::kJaguarPDPChannel), 0)
+ << "The Jaguar current was not positive";
+}