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|---|---|---|---|---|
| 1 | #include "pch.h" | |||
| 2 | ||||
| 3 | #include "stepper.h" | |||
| 4 | ||||
| 5 | 4 | TEST(Stepper, IgnoreSmallChanges) { | ||
| 6 | 1 | StepperMotorBase dut; | ||
| 7 | ||||
| 8 |
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1 | dut.setTargetPosition(10); | |
| 9 | ||||
| 10 | // Record initial reported position | |||
| 11 |
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1 | auto initialPosition = dut.getTargetPosition(); | |
| 12 | ||||
| 13 | // Small changes should be ignored | |||
| 14 |
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1 | dut.setTargetPosition(10.5f); | |
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1 | EXPECT_EQ(initialPosition, dut.getTargetPosition()); | |
| 16 |
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1 | dut.setTargetPosition(9.5f); | |
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1 | EXPECT_EQ(initialPosition, dut.getTargetPosition()); | |
| 18 | ||||
| 19 | // Change of >= 1 should cause a change | |||
| 20 |
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1 | dut.setTargetPosition(11.5f); | |
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1 | EXPECT_EQ(11.5f, dut.getTargetPosition()); | |
| 22 | ||||
| 23 | // Now go back the other way | |||
| 24 |
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1 | dut.setTargetPosition(9.5f); | |
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1 | EXPECT_EQ(9.5f, dut.getTargetPosition()); | |
| 26 | 1 | } | ||
| 27 |