Squashed 'third_party/allwpilib_2017/' content from commit 35ac87d
Change-Id: I7bb6f5556c30d3f5a092e68de0be9c710c60c9f4
git-subtree-dir: third_party/allwpilib_2017
git-subtree-split: 35ac87d6ff8b7f061c4f18c9ea316e5dccd4888a
diff --git a/wpilibcIntegrationTests/src/BuiltInAccelerometerTest.cpp b/wpilibcIntegrationTests/src/BuiltInAccelerometerTest.cpp
new file mode 100644
index 0000000..abcac1b
--- /dev/null
+++ b/wpilibcIntegrationTests/src/BuiltInAccelerometerTest.cpp
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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014-2017. 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 "BuiltInAccelerometer.h" // NOLINT(build/include_order)
+
+#include "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);
+}