/usr/src/rpm/BUILD/libirobot-create-0.1/tests/pwm-low-side-drivers-test.cc File Reference

#include "common.hh"

Include dependency graph for pwm-low-side-drivers-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.sendPwmLowSideDriversCommand (Create::LOW_SIDE_VELOCITY_MIN,
                                         Create::LOW_SIDE_VELOCITY_MIN,
                                         Create::LOW_SIDE_VELOCITY_MIN));

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

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

  robot.sendPwmLowSideDriversCommand (Create::LOW_SIDE_VELOCITY_MIN,
                                      Create::LOW_SIDE_VELOCITY_MIN,
                                      Create::LOW_SIDE_VELOCITY_MIN);

  robot.sendPwmLowSideDriversCommand (Create::LOW_SIDE_VELOCITY_MAX,
                                      Create::LOW_SIDE_VELOCITY_MAX,
                                      Create::LOW_SIDE_VELOCITY_MAX);
  return TEST_SUCCEED;
}

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