IMotorEncodersTest.h

Go to the documentation of this file.

/*
 * SPDX-FileCopyrightText: 2023-2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef IMOTORENCODERSTEST_H
#define IMOTORENCODERSTEST_H
 
#include <yarp/dev/IMotorEncoders.h>
#include <yarp/dev/IControlMode.h>
#include <catch2/catch_amalgamated.hpp>
 
using namespace yarp::dev;
using namespace yarp::os;
 
namespace yarp::dev::tests
{
    inline void exec_iMotorEncoders_test_1(IMotorEncoders* imotenc)
    {
        REQUIRE(imotenc != nullptr);
 
        bool b = false;
        double value = 0;
        double time = 0;
        int axis =0;
        b = imotenc->getNumberOfMotorEncoders(&axis);
        CHECK(b);
        CHECK(axis!=0);
 
        b = imotenc->getMotorEncoder(0, &value);
        CHECK(b);
        b = imotenc->getMotorEncoderAcceleration(0, &value);
        CHECK(b);
        b = imotenc->getMotorEncoderSpeed(0, &value);
        CHECK(b);
        b = imotenc->getMotorEncoderTimed(0,&value,&time);
    }
}
 
#endif