Squashed 'third_party/allwpilib_2019/' content from commit bd05dfa1c
Change-Id: I2b1c2250cdb9b055133780c33593292098c375b7
git-subtree-dir: third_party/allwpilib_2019
git-subtree-split: bd05dfa1c7cca74c4fac451e7b9d6a37e7b53447
diff --git a/wpilibcIntegrationTests/src/main/native/cpp/BuiltInAccelerometerTest.cpp b/wpilibcIntegrationTests/src/main/native/cpp/BuiltInAccelerometerTest.cpp
new file mode 100644
index 0000000..bfb5f21
--- /dev/null
+++ b/wpilibcIntegrationTests/src/main/native/cpp/BuiltInAccelerometerTest.cpp
@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2018 FIRST. 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 "frc/BuiltInAccelerometer.h" // NOLINT(build/include_order)
+
+#include "frc/Timer.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+static constexpr double kAccelerationTolerance = 0.1;
+/**
+ * There's not much we can automatically test with the on-board accelerometer,
+ * but checking for gravity is probably good enough to tell that it's working.
+ */
+TEST(BuiltInAccelerometerTest, Accelerometer) {
+ BuiltInAccelerometer accelerometer;
+
+ /* The testbench sometimes shakes a little from a previous test. Give it
+ some time. */
+ Wait(1.0);
+
+ ASSERT_NEAR(0.0, accelerometer.GetX(), kAccelerationTolerance);
+ ASSERT_NEAR(1.0, accelerometer.GetY(), kAccelerationTolerance);
+ ASSERT_NEAR(0.0, accelerometer.GetZ(), kAccelerationTolerance);
+}