TorqueControlActuatorTest.c File Reference

#include "../Inc/Systems/Controller/TorqueControl.h"
#include "test.h"

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Macros
#define	MAX_TORQUE   100
#define	TORQUE_DO(torque, desired)

Functions
void	torque_control_main ()

Macro Definition Documentation

MAX_TORQUE

#define MAX_TORQUE   100

Definition at line 4 of file TorqueControlActuatorTest.c.

TORQUE_DO

#define TORQUE_DO	(		torque,
			desired
	)

Value:

  TorqueControl tc; \
  initTorqueControl(&tc, 0, MAX_TORQUE); \
  setActualTorque(&tc, torque); \
  setDesiredTorque(&tc, desired); \
  updateTorqueControl(&tc); \
  TorqueStatus status = checkTorqueLimits(&tc);

Definition at line 6 of file TorqueControlActuatorTest.c.

Function Documentation

torque_control_main()

void torque_control_main

(

)

Definition at line 14 of file TorqueControlActuatorTest.c.

                           {
    TEST(torque_init, {
      TorqueControl tc;
      initTorqueControl(&tc, 0, 100);
      ASSERT(tc.status == TORQUE_OK, "status is expected", "status is not expected");
    })
 
    TEST(update_normal, {
      TORQUE_DO(75, 75)
      ASSERT(tc.status == TORQUE_OK, "status is expected", "status is not expected");
    })
 
    TEST(update_below_desired, {
      TORQUE_DO(93.5, 95)
      ASSERT(tc.status == TORQUE_OK, "status is expected", "status is not expected");
    })
 
    TEST(update_above_desired, {
      TORQUE_DO(98.5, 95)
      ASSERT(tc.status == TORQUE_OK, "status is expected", "status is not expected");
    })
 
    TEST(update_over_limit, {
      TORQUE_DO(101, 95)
      ASSERT(tc.status == TORQUE_OVER_LIMIT, "status is expected", "status is not expected");
    })
 
    TEST(update_negative_torque, {
      TORQUE_DO(-10, 95)
      ASSERT(tc.status == TORQUE_UNDER_LIMIT, "status is expected", "status is not expected");
    })
 
    TEST(update_sensor_error, {
      TORQUE_DO(10, 80)
      ASSERT(tc.status == TORQUE_SENSOR_ERROR, "status is expected", "status is not expected");
    })
}

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