From 30d09cc098aa893dcbae30af3d8e31ba86f24c16 Mon Sep 17 00:00:00 2001
From: Bartek <bartlomiejk@vp.pl>
Date: Fri, 19 Jul 2024 17:24:51 +0200
Subject: [PATCH] Single wrapper tested

---
 .../src/{ => tests/hardware}/simple_test.cpp                | 6 +++---
 .../hardware/single_wrapper_test.cpp}                       | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)
 rename src/meldog_hardware/pi3hat_hardware_interface/src/{ => tests/hardware}/simple_test.cpp (95%)
 rename src/meldog_hardware/pi3hat_hardware_interface/src/{main_test.cpp => tests/hardware/single_wrapper_test.cpp} (99%)

diff --git a/src/meldog_hardware/pi3hat_hardware_interface/src/simple_test.cpp b/src/meldog_hardware/pi3hat_hardware_interface/src/tests/hardware/simple_test.cpp
similarity index 95%
rename from src/meldog_hardware/pi3hat_hardware_interface/src/simple_test.cpp
rename to src/meldog_hardware/pi3hat_hardware_interface/src/tests/hardware/simple_test.cpp
index 47a945e2..b787fcbf 100644
--- a/src/meldog_hardware/pi3hat_hardware_interface/src/simple_test.cpp
+++ b/src/meldog_hardware/pi3hat_hardware_interface/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/src/meldog_hardware/pi3hat_hardware_interface/src/main_test.cpp b/src/meldog_hardware/pi3hat_hardware_interface/src/tests/hardware/single_wrapper_test.cpp
similarity index 99%
rename from src/meldog_hardware/pi3hat_hardware_interface/src/main_test.cpp
rename to src/meldog_hardware/pi3hat_hardware_interface/src/tests/hardware/single_wrapper_test.cpp
index 9b75c478..824cf43a 100644
--- a/src/meldog_hardware/pi3hat_hardware_interface/src/main_test.cpp
+++ b/src/meldog_hardware/pi3hat_hardware_interface/src/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);