@Test
public void testGetTicksTwo() {
double conversion = 0.5; // units of conversion per count
SimulatedEncoder simulatedEncoder = new SimulatedEncoder(conversion);
double jointPosition = 50.0;
int expecetedTicks = 25;
simulatedEncoder.setActualPosition(jointPosition);
assertEquals(expecetedTicks, simulatedEncoder.getEncoderTicks());
jointPosition = 0.0;
expecetedTicks = 0;
simulatedEncoder.setActualPosition(jointPosition);
assertEquals(expecetedTicks, simulatedEncoder.getEncoderTicks());
}
@Test
public void testGetTicksThree() {
double conversion = 0.5; // units of ticks per length
SimulatedEncoder simulatedEncoder = new SimulatedEncoder(conversion);
double jointPosition = 0.9;
int expecetedTicks = 0;
simulatedEncoder.setActualPosition(jointPosition);
assertEquals(expecetedTicks, simulatedEncoder.getEncoderTicks());
jointPosition = 1.1;
expecetedTicks = 1;
simulatedEncoder.setActualPosition(jointPosition);
assertEquals(expecetedTicks, simulatedEncoder.getEncoderTicks());
}
public void testGetPositionFromEncoder() {
double conversion = 0.5; // units of ticks per length
SimulatedEncoder simulatedEncoder = new SimulatedEncoder(conversion);
double jointPosition = 0.9;
int expecetedTicks = 0;
double expectedPosition = expecetedTicks / conversion;
simulatedEncoder.setActualPosition(jointPosition);
assertEquals(expectedPosition, simulatedEncoder.getPositionFromEncoder());
jointPosition = 1.1;
expecetedTicks = 1;
expectedPosition = expecetedTicks / conversion;
simulatedEncoder.setActualPosition(jointPosition);
assertEquals(expectedPosition, simulatedEncoder.getPositionFromEncoder());
}
@Test
public void testGetTicksFour() {
double ticksPerPosition = 10.0; // units of conversion per count
SimulatedEncoder simulatedEncoder = new SimulatedEncoder(ticksPerPosition);
double jointPosition = 0.5;
int expecetedTicks = 5;
simulatedEncoder.setActualPosition(jointPosition);
assertEquals(expecetedTicks, simulatedEncoder.getEncoderTicks());
}
@Test
public void testGetPositionFromEncoderFour() {
double conversion = 100; // units of ticks per length
SimulatedEncoder simulatedEncoder = new SimulatedEncoder(conversion);
double jointPosition = 5.0;
double expectedPosition = 5.0;
simulatedEncoder.setActualPosition(jointPosition);
assertEquals(expectedPosition, simulatedEncoder.getPositionFromEncoder());
}