initial commit

libraries/ConfigurableFirmata/test/stepper_test/stepper_test.ino

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+/*
+ * To run this test suite, you must first install the ArduinoUnit library
+ * to your Arduino/libraries/ directory.
+ * You can get ArduinoUnit here: https://github.com/mmurdoch/arduinounit
+ * Download version 2.0 or greater.
+ */
+
+#include <ArduinoUnit.h>
+#include <AccelStepperFirmata.h>
+
+void setup()
+{
+  Serial.begin(9600);
+}
+
+test(decode_custom_float)
+{
+  AccelStepperFirmata stepper;
+  float result;
+
+  result = stepper.decodeCustomFloat( 110, 92, 44, 32 );
+  result = fabs(732.782 - result);
+
+  assertLessOrEqual(result,.01);
+
+}
+
+test(decode_negative_custom_float)
+{
+  AccelStepperFirmata stepper;
+  float result;
+
+  result = stepper.decodeCustomFloat( 110, 92, 44, 96 );
+  result = fabs(-732.782 - result);
+
+  assertLessOrEqual(result,.01);
+
+}
+
+test(encode_32_bit_signed_integer)
+{
+  AccelStepperFirmata stepper;
+  byte result[5];
+
+  stepper.encode32BitSignedInteger(5786, result);
+
+  assertEqual(result[0], 26);
+  assertEqual(result[1], 45);
+  assertEqual(result[2], 0);
+  assertEqual(result[3], 0);
+  assertEqual(result[4], 0);
+}
+
+test(encode_negative_32_bit_signed_integer)
+{
+  AccelStepperFirmata stepper;
+  byte result[5];
+
+  stepper.encode32BitSignedInteger(-5786, result);
+
+  assertEqual(result[0], 26);
+  assertEqual(result[1], 45);
+  assertEqual(result[2], 0);
+  assertEqual(result[3], 0);
+  assertEqual(result[4], 8);
+}
+
+test(decode_32_bit_signed_integer)
+{
+  AccelStepperFirmata stepper;
+  long result;
+
+  result = stepper.decode32BitSignedInteger(26, 45, 0, 0, 0);
+
+  assertEqual(result, 5786);
+}
+
+test(decode_negative_32_bit_signed_integer)
+{
+  AccelStepperFirmata stepper;
+  long result;
+
+  result = stepper.decode32BitSignedInteger(26, 45, 0, 0, 8);
+
+  assertEqual(result, -5786);
+}
+
+void loop()
+{
+  Test::run();
+}