Raw encoder ticks

tele0592/examples/check-firmware.rs

@@ -10,9 +10,15 @@ fn main() -> color_eyre::Result<()> {
     c.reset()?;
     thread::sleep(Duration::from_millis(100));
 
+    println!("- Check firmware version consistency");
+    c.check_firmware_version()?;
+
     println!("- Check that the encoders have been reset");
     assert_eq!(c.get_encoder_ticks()?, (0, 0));
 
+    println!("- Check that the raw encoders have been reset");
+    assert_eq!(c.get_raw_encoder_ticks()?, (0, 0));
+
     println!("- Check that motors are in standby mode");
     assert_eq!(c.get_raw_motor_speed()?, None);
 
@@ -54,9 +60,16 @@ fn main() -> color_eyre::Result<()> {
     let (left, right) = c.get_encoder_ticks()?;
     assert!(left > 0 && right < 0);
 
+    println!("- Check that the raw encoders have moved correctly as well");
+    let (left, right) = c.get_raw_encoder_ticks()?;
+    assert!(left & 0x8000 == 0 && right & 0x8000 != 0);
+
     println!("- Check that encoders are reset after being read");
     assert_eq!(c.get_encoder_ticks()?, (0, 0));
 
+    println!("- Check that the raw encoder ticks are not reset after being read");
+    assert_eq!(c.get_raw_encoder_ticks()?, (left, right));
+
     println!("- Check that PID coefficients can be set and read");
     c.set_pid_coefficients(0.0, 0.0, 0.0)?;
     assert_eq!(c.get_pid_coefficients()?, (0.0, 0.0, 0.0));