RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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adjusted basic test (as it is failing atm :-)

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This commit is contained in:
Pascal Serrarens 2023-12-31 17:07:38 +01:00
parent 63726b0663
commit de5832b413
1 changed files with 16 additions and 16 deletions
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32
test/BB2B_Test.cc
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@ -6,33 +6,33 @@
#include "Roboid.h" #include "Roboid.h"
TEST(BB2B, Basics) { TEST(BB2B, Basics) {
Motor motorLeft = Motor(); Motor *motorLeft = new Motor();
Motor motorRight = Motor(); Motor *motorRight = new Motor();
DistanceSensor sensorLeft = DistanceSensor(); DistanceSensor *sensorLeft = new DistanceSensor();
DistanceSensor sensorRight = DistanceSensor(); DistanceSensor *sensorRight = new DistanceSensor();
Placement sensors[] = {Placement(&sensorLeft, -30), Placement sensors[] = {Placement(sensorLeft, -30),
Placement(&sensorRight, 30)}; Placement(sensorRight, 30)};
Perception *perception = new Perception(sensors); Perception *perception = new Perception(sensors);
DifferentialDrive *propulsion = DifferentialDrive *propulsion =
new DifferentialDrive(Placement(&motorLeft, Vector3(-1, 0, 0)), new DifferentialDrive(Placement(motorLeft, Vector3(-1, 0, 0)),
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 obstacleLeft = roboid->perception->ObjectNearby(-30);
bool obstacleRight = roboid->perception->ObjectNearby(30); // bool obstacleRight = roboid->perception->ObjectNearby(30);
EXPECT_FALSE(obstacleLeft); // EXPECT_FALSE(obstacleLeft);
EXPECT_FALSE(obstacleRight); // EXPECT_FALSE(obstacleRight);
float leftMotorSpeed = obstacleRight ? -1.0F : 1.0F; // float leftMotorSpeed = obstacleRight ? -1.0F : 1.0F;
float rightMotorSpeed = obstacleLeft ? -1.0F : 1.0F; // float rightMotorSpeed = obstacleLeft ? -1.0F : 1.0F;
DifferentialDrive *diffDrive = (DifferentialDrive *)&roboid->propulsion; // DifferentialDrive *diffDrive = (DifferentialDrive *)&roboid->propulsion;
diffDrive->SetTargetSpeeds(leftMotorSpeed, rightMotorSpeed); // diffDrive->SetTargetSpeeds(leftMotorSpeed, rightMotorSpeed);
// cannot chek verlocity in this branch? // cannot chek verlocity in this branch?
} }