public void EnhancedEncoderRateTest()
{
using (Encoder e = new EnhancedEncoder(0, 1) {Dt = 0.1})
{
e.Reset();
e.Get(); //Push the value to the Derivative
SimData.Encoder[0].Count = 4000;
Assert.AreEqual(10000, e.GetRate());
}
}
public static void TestEnhancedTurnRate()
{
using (EnhancedEncoder left = new EnhancedEncoder(0, 1), right = new EnhancedEncoder(2, 3))
{
EnhancedDriveEncoders e = new EnhancedDriveEncoders(left, right);
e.Dt = 1;
SimData.Encoder[0].Count = 4000;
SimData.Encoder[1].Count = -4000;
Assert.AreEqual(1000, e.TurnSpeed);
}
}
