Split //frc971/zeroing into multiple files
It's still a single target, and one massive header file. We should
actually split that up in a future refactoring. However, this does make
it easier to find the relevant parts within each file.
Change-Id: I7abc26f2e3d88da4558f54d56e6db4233cc4c30f
diff --git a/frc971/zeroing/zeroing_test.h b/frc971/zeroing/zeroing_test.h
new file mode 100644
index 0000000..9b7ba95
--- /dev/null
+++ b/frc971/zeroing/zeroing_test.h
@@ -0,0 +1,32 @@
+#include "frc971/zeroing/zeroing.h"
+
+#include "frc971/control_loops/control_loops_generated.h"
+#include "frc971/control_loops/position_sensor_sim.h"
+#include "gtest/gtest.h"
+
+namespace frc971 {
+namespace zeroing {
+namespace testing {
+
+using control_loops::PositionSensorSimulator;
+using FBB = flatbuffers::FlatBufferBuilder;
+
+constexpr size_t kSampleSize = 30;
+constexpr double kAcceptableUnzeroedError = 0.2;
+constexpr double kIndexErrorFraction = 0.3;
+constexpr size_t kMovingBufferSize = 3;
+
+class ZeroingTest : public ::testing::Test {
+ protected:
+ template <typename T>
+ double GetEstimatorPosition(T *estimator) {
+ FBB fbb;
+ fbb.Finish(estimator->GetEstimatorState(&fbb));
+ return flatbuffers::GetRoot<typename T::State>(fbb.GetBufferPointer())
+ ->position();
+ }
+};
+
+} // namespace testing
+} // namespace zeroing
+} // namespace frc971