Single wrapper tested

KNR-PW · Jul 19, 2024 · 30d09cc · 30d09cc
1 parent 1761ed3
commit 30d09cc
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/...at_hardware_interface/src/simple_test.cpp → ...erface/src/tests/hardware/simple_test.cpp b/...at_hardware_interface/src/simple_test.cpp → ...erface/src/tests/hardware/simple_test.cpp
@@ -1,6 +1,6 @@
-#include "../include/pi3hat/pi3hat.h"
-#include "../include/pi3hat/realtime.h"
-#include "../include/moteus/moteus.h"
+#include "../../../include/pi3hat/pi3hat.h"
+#include "../../../include/pi3hat/realtime.h"
+#include "../../../include/moteus/moteus.h"
 
 
 static double GetNow() 

diff --git a/...3hat_hardware_interface/src/main_test.cpp → ...rc/tests/hardware/single_wrapper_test.cpp b/...3hat_hardware_interface/src/main_test.cpp → ...rc/tests/hardware/single_wrapper_test.cpp
@@ -106,7 +106,7 @@ int main(int argc, char** argv)
         actuator_command.position_ = 5 * sin(now - prev);
         command(moteus_wrapper, tx_frame, actuator_command);
         pi3hat_output = pi3hat.Cycle(input);
-        ::usleep(100);
+        ::usleep(1000);
         auto mesaure_time = GetNow() - now;
         frequency = (int) 1/mesaure_time;
         state(moteus_wrapper, rx_frame, actuator_state);