public void TestPidGetRate()
{
using (AnalogGyro c = GetAnalogGyro(0))
{
SimAnalogGyro gyro = new SimAnalogGyro(0);
c.PIDSourceType = PIDSourceType.Rate;
gyro.SetRate(1.025);
Assert.That(c.PidGet(), Is.EqualTo(1.025).Within(0.001));
gyro.SetRate(-1.0835);
Assert.That(c.PidGet(), Is.EqualTo(-1.0835).Within(0.001));
}
}
public void TestAnalogGyroGetAngle([Range(0, NumAccumulatorChannels - 1)]int channel)
{
using (AnalogGyro input = GetAnalogGyro(channel))
{
SimAnalogGyro gyro = new SimAnalogGyro(channel);
gyro.SetPosition(1.025);
Assert.AreEqual(1.025, input.GetAngle(), 0.0001);
gyro.SetPosition(-1.0835);
Assert.AreEqual(-1.0835, input.GetAngle(), 0.0001);
}
}
public void TestPidGetDisplacement()
{
using (AnalogGyro c = GetAnalogGyro(0))
{
SimAnalogGyro gyro = new SimAnalogGyro(0);
c.PIDSourceType = PIDSourceType.Displacement;
gyro.SetPosition(1.025);
Assert.That(c.PidGet(), Is.EqualTo(1.025).Within(0.001));
gyro.SetPosition(-1.0835);
Assert.That(c.PidGet(), Is.EqualTo(-1.0835).Within(0.001));
}
}
public void TestReset()
{
using (AnalogGyro input = GetAnalogGyro(0))
{
SimAnalogGyro gyro = new SimAnalogGyro(0);
gyro.SetRate(1.025);
gyro.SetPosition(1.124);
Assert.AreEqual(1.025, input.GetRate(), 0.0001);
Assert.AreEqual(1.124, input.GetAngle(), 0.0001);
Assert.That(GetGyroData(0).AccumulatorCount, Is.Not.EqualTo(0));
Assert.That(GetGyroData(0).AccumulatorValue, Is.Not.EqualTo(0));
input.Reset();
Assert.That(GetGyroData(0).AccumulatorCount, Is.EqualTo(0));
Assert.That(GetGyroData(0).AccumulatorValue, Is.EqualTo(0));
}
}
