40 lines
1.2 KiB
C++
40 lines
1.2 KiB
C++
#if GTEST
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#include <gtest/gtest.h>
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#include "DifferentialDrive.h"
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#include "DistanceSensor.h"
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#include "Roboid.h"
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TEST(BB2B, Basics) {
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Motor *motorLeft = new Motor();
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Motor *motorRight = new Motor();
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DistanceSensor *sensorLeft = new DistanceSensor();
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DistanceSensor *sensorRight = new DistanceSensor();
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Placement sensors[] = {Placement(sensorLeft, -30),
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Placement(sensorRight, 30)};
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Perception *perception = new Perception(sensors);
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DifferentialDrive *propulsion =
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new DifferentialDrive(Placement(motorLeft, Vector3(-1, 0, 0)),
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Placement(motorRight, Vector3(1, 0, 0)));
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Roboid *roboid = new Roboid(perception, propulsion);
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// bool obstacleLeft = roboid->perception->ObjectNearby(-30);
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// bool obstacleRight = roboid->perception->ObjectNearby(30);
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// EXPECT_FALSE(obstacleLeft);
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// EXPECT_FALSE(obstacleRight);
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// float leftMotorSpeed = obstacleRight ? -1.0F : 1.0F;
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// float rightMotorSpeed = obstacleLeft ? -1.0F : 1.0F;
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// DifferentialDrive *diffDrive = (DifferentialDrive *)&roboid->propulsion;
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// diffDrive->SetTargetSpeeds(leftMotorSpeed, rightMotorSpeed);
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// cannot chek verlocity in this branch?
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}
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#endif
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