/usr/src/rpm/BUILD/libirobot-create-0.1/tests/drive-direct-command-test.cc File Reference

#include "common.hh"

Include dependency graph for drive-direct-command-test.cc:

Functions
int	run_test (iRobot::Create &robot, std::stringstream &)

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Function Documentation

int run_test	(	iRobot::Create &	robot,
		std::stringstream &
	)

{
  using namespace iRobot;

  // Test Mode.
  CHECK_FAILURE
    (CommandNotAvailable,
     robot.sendDriveDirectCommand
     (Create::VELOCITY_MIN, Create::VELOCITY_MIN));

  // Switch to full mode and test a command.
  robot.sendFullCommand ();
  robot.sendDriveDirectCommand (Create::VELOCITY_MIN, Create::VELOCITY_MIN);

  // Switch to safe mode for the rest of the test.
  robot.sendSafeCommand ();

  // Test valid commands (bounds)
  int vmean = (Create::VELOCITY_MAX - Create::VELOCITY_MIN) / 2;
  robot.sendDriveCommand (vmean, vmean);
  robot.sendDriveDirectCommand (Create::VELOCITY_MIN, Create::VELOCITY_MIN);
  robot.sendDriveDirectCommand (Create::VELOCITY_MIN, Create::VELOCITY_MAX);
  robot.sendDriveDirectCommand (Create::VELOCITY_MAX, Create::VELOCITY_MIN);
  robot.sendDriveDirectCommand (Create::VELOCITY_MAX, Create::VELOCITY_MAX);

  // Check velocity minimum - 1.
  CHECK_FAILURE
    (InvalidArgument,
     robot.sendDriveDirectCommand (Create::VELOCITY_MIN - 1,
                                   Create::VELOCITY_MAX / 4));

  // Check velocity maximum + 1.
  CHECK_FAILURE
    (InvalidArgument,
     robot.sendDriveDirectCommand (Create::VELOCITY_MAX + 1,
                             Create::VELOCITY_MAX / 4));

  // Check radius minimum - 1.
  CHECK_FAILURE
    (InvalidArgument,
     robot.sendDriveDirectCommand (Create::VELOCITY_MAX / 4,
                             Create::VELOCITY_MIN - 1));

  // Check radius maximum + 1.
  CHECK_FAILURE
    (InvalidArgument,
     robot.sendDriveDirectCommand (Create::VELOCITY_MAX / 4,
                             Create::VELOCITY_MAX + 1));

  return TEST_SUCCEED;
}

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