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/PowerDistributionPanelTest.cpp b/wpilibcIntegrationTests/src/PowerDistributionPanelTest.cpp
new file mode 100644
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--- /dev/null
+++ b/wpilibcIntegrationTests/src/PowerDistributionPanelTest.cpp
@@ -0,0 +1,60 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "PowerDistributionPanel.h" // NOLINT(build/include_order)
+
+#include "Jaguar.h"
+#include "Talon.h"
+#include "TestBench.h"
+#include "Timer.h"
+#include "Victor.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+static const double kMotorTime = 0.25;
+
+class PowerDistributionPanelTest : public testing::Test {
+ protected:
+ PowerDistributionPanel* m_pdp;
+ Talon* m_talon;
+ Victor* m_victor;
+ Jaguar* m_jaguar;
+
+ 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);
+ }
+
+ 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";
+}