wg0x_test.cpp File Reference

#include "ethercat_hardware/wg0x.h"
#include <gtest/gtest.h>
#include <iostream>
#include <math.h>

Include dependency graph for wg0x_test.cpp:

Go to the source code of this file.

Functions
int	main (int argc, char **argv)
	TEST (WG0X, timestampDiff)
	TEST (WG0X, positionDiff)
	TEST (WG0X, timediffToDuration)
	TEST (WG0X, calcEncoderVelocity)

Function Documentation

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 163 of file wg0x_test.cpp.

TEST() [1/4]

TEST	(	WG0X	,
		timestampDiff
	)

Make sure WG0X::timestampDiff funtion should handle wrap around at edge values for 32bit unsigned values.

Definition at line 10 of file wg0x_test.cpp.

TEST() [2/4]

TEST	(	WG0X	,
		positionDiff
	)

Make sure WG0X::positionDiff funtion should handle position wrap around at edge values for 32bit signed/unsigned values.

Definition at line 31 of file wg0x_test.cpp.

TEST() [3/4]

TEST	(	WG0X	,
		timediffToDuration
	)

Make sure timediffToDuration handles converting multisecond timediff values to Durations

Definition at line 61 of file wg0x_test.cpp.

TEST() [4/4]

TEST	(	WG0X	,
		calcEncoderVelocity
	)

Make sure calcEncoderVelocity handles wrapped position and timestamp values

Definition at line 86 of file wg0x_test.cpp.