test: Add tests for encoders

platformio.ini

@@ -11,6 +11,7 @@ monitor_port = /dev/ttyACM1
 monitor_speed = 115200
 test_speed = 115200
 test_build_project_src = true
+test_transport = custom
 
 [env:nucleo_f303k8]
 platform = ststm32

test/test_main.cpp

 #include <mbed.h>
 #include <unity.h>
 
+#include <cmath>
+
 #include "regulator/PID.hpp"
 #include "odometry/Odometer.hpp"
 
+void wait_for_enter()
+{
+    int c;
+
+    while ((c = getchar()) != '\n' && c != EOF)
+    {
+        continue;
+    }
+}
+
 DigitalOut led1(LED1);
 
 void test_led_builtin_pin_number()
@@ -136,21 +148,121 @@ void test_odometer_init_values()
     TEST_ASSERT_EQUAL(0, odom.getSpeed().rightWheelSpeed);
 }
 
+void test_encoder_left_resolution_X4()
+{
+    Encoder leftEncoder(D7, D8, 1024);
+    TEST_ASSERT_EQUAL(1024 * 4, leftEncoder.getResolution());
+}
+
+void test_encoder_left_still()
+{
+    Encoder leftEncoder(D7, D8, 1024);
+
+    TEST_ASSERT_EQUAL(0, leftEncoder.getTicks());
+    wait_ms(50);
+    TEST_ASSERT_EQUAL(0, leftEncoder.getTicks());
+}
+
+void test_encoder_left_forward()
+{
+    Encoder leftEncoder(D7, D8, 1024);
+    printf(">> Turn left encoder forward and press [ENTER] to continue.\n");
+    wait_for_enter();
+    TEST_ASSERT_GREATER_OR_EQUAL(1, leftEncoder.getTicks());
+}
+
+void test_encoder_left_backward()
+{
+    Encoder leftEncoder(D7, D8, 1024);
+    printf(">> Turn left encoder backward and press [ENTER] to continue.\n");
+    wait_for_enter();
+    TEST_ASSERT_LESS_OR_EQUAL(-1, leftEncoder.getTicks());
+}
+
+void test_encoder_right_resolution_X4()
+{
+    Encoder rightEncoder(D10, D12, 1000);
+    TEST_ASSERT_EQUAL(1000 * 4, rightEncoder.getResolution());
+}
+
+void test_encoder_right_still()
+{
+    Encoder rightEncoder(D10, D12, 1000);
+
+    TEST_ASSERT_EQUAL(0, rightEncoder.getTicks());
+    wait_ms(50);
+    TEST_ASSERT_EQUAL(0, rightEncoder.getTicks());
+}
+
+void test_encoder_right_backward()
+{
+    Encoder rightEncoder(D10, D12, 1000);
+    printf(">> Turn right encoder backward and press [ENTER] when done.\n");
+    wait_for_enter();
+    TEST_ASSERT_LESS_OR_EQUAL(-1, rightEncoder.getTicks());
+}
+
+void test_encoder_right_forward()
+{
+    Encoder rightEncoder(D10, D12, 1000);
+    printf(">> Turn right encoder forward and press [ENTER] when done.\n");
+    wait_for_enter();
+    TEST_ASSERT_GREATER_OR_EQUAL(1, rightEncoder.getTicks());
+}
+
+void test_encoder_both_forward()
+{
+    Encoder leftEncoder(D7, D8, 1024);
+    Encoder rightEncoder(D10, D12, 1000);
+    printf(">> Turn both encoders forward and press [ENTER] when done.\n");
+    wait_for_enter();
+    TEST_ASSERT_GREATER_OR_EQUAL(1, leftEncoder.getTicks());
+    TEST_ASSERT_GREATER_OR_EQUAL(1, rightEncoder.getTicks());
+}
+
+void test_encoder_both_backward()
+{
+    Encoder leftEncoder(D7, D8, 1024);
+    Encoder rightEncoder(D10, D12, 1000);
+    printf(">> Turn both encoders backward and press [ENTER] when done.\n");
+    wait_for_enter();
+    TEST_ASSERT_LESS_OR_EQUAL(-1, leftEncoder.getTicks());
+    TEST_ASSERT_LESS_OR_EQUAL(-1, rightEncoder.getTicks());
+}
+
 int main()
 {
     // Wait for serial to setup
     wait_ms(2000);
 
     UNITY_BEGIN();
+
     RUN_TEST(test_led_builtin_pin_number);
     RUN_TEST(test_led_state_high);
     RUN_TEST(test_led_state_low);
+
     RUN_TEST(test_pid_compute_proportional_Kp1);
     RUN_TEST(test_pid_cumpute_proportional_Kp2);
     RUN_TEST(test_pid_cumpute_integral_Ki_1);
     RUN_TEST(test_pid_cumpute_integral_Ki_2);
     RUN_TEST(test_pid_compute_derivative_division_by_zero);
     RUN_TEST(test_pid_compute_all_Kp_Ki_Kd_1);
+
     RUN_TEST(test_odometer_init_values);
+
+    RUN_TEST(test_encoder_left_resolution_X4);
+    RUN_TEST(test_encoder_right_resolution_X4);
+    RUN_TEST(test_encoder_left_still);
+    RUN_TEST(test_encoder_right_still);
+
+    RUN_TEST(test_encoder_left_forward);
+    RUN_TEST(test_encoder_left_backward);
+
+    RUN_TEST(test_encoder_right_forward);
+    RUN_TEST(test_encoder_right_backward);
+
+    RUN_TEST(test_encoder_both_forward);
+    RUN_TEST(test_encoder_both_backward);
+
     UNITY_END();
 }
\ No newline at end of file

test/unittest_transport.h

+#ifndef UNITTEST_TRANSPORT_H
+#define UNITTEST_TRANSPORT_H
+
+#include <mbed.h>
+#include <output_export.h>
+
+Serial pc(USBTX, USBRX);
+
+void unittest_uart_begin()
+{
+    pc.baud(115200);
+}
+
+void unittest_uart_putchar(char c)
+{
+    pc.putc(c);
+}
+
+void unittest_uart_flush()
+{
+}
+
+void unittest_uart_end()
+{
+}
+
+#endif
\ No newline at end of file