RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Merge remote-tracking branch 'origin/main' into ObjectPerception

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This commit is contained in:
Pascal Serrarens 2023-12-31 16:39:40 +01:00
commit 16b45a40d3
2 changed files with 16 additions and 2 deletions
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2
CMakeLists.txt
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@ -57,7 +57,7 @@ enable_testing()
add_executable( add_executable(
RoboidControlTest RoboidControlTest
"test/Dummy_test.cc" "test/BB2B_test.cc"
) )
target_link_libraries( target_link_libraries(
RoboidControlTest RoboidControlTest

16
test/Dummy_test.cc → test/BB2B_Test.cc
View File

@ -5,7 +5,7 @@
#include "DistanceSensor.h" #include "DistanceSensor.h"
#include "Roboid.h" #include "Roboid.h"
TEST(Dummy, Foo) { TEST(BB2B, Basics) {
Motor motorLeft = Motor(); Motor motorLeft = Motor();
Motor motorRight = Motor(); Motor motorRight = Motor();
@ -21,5 +21,19 @@ TEST(Dummy, Foo) {
Placement(&motorRight, Vector3(1, 0, 0))); Placement(&motorRight, Vector3(1, 0, 0)));
Roboid *roboid = new Roboid(perception, propulsion); Roboid *roboid = new Roboid(perception, propulsion);
bool obstacleLeft = roboid->perception->ObjectNearby(-30);
bool obstacleRight = roboid->perception->ObjectNearby(30);
EXPECT_FALSE(obstacleLeft);
EXPECT_FALSE(obstacleRight);
float leftMotorSpeed = obstacleRight ? -1.0F : 1.0F;
float rightMotorSpeed = obstacleLeft ? -1.0F : 1.0F;
DifferentialDrive *diffDrive = (DifferentialDrive *)&roboid->propulsion;
diffDrive->SetTargetSpeeds(leftMotorSpeed, rightMotorSpeed);
// cannot chek verlocity in this branch?
} }
#endif #endif