Relative encoder ticks

tele0592/examples/check-firmware.rs

@@ -2,6 +2,7 @@ use color_eyre::eyre::Context;
 use std::{thread, time::Duration};
 use tele0592::{Controller as _, Device as _};
 
+#[allow(clippy::too_many_lines, deprecated)] // deprecated needed for c.get_encoder_ticks()
 fn main() -> color_eyre::Result<()> {
     color_eyre::install()?;
     let mut c = rppal::i2c::I2c::with_bus(8).with_context(|| "opening I²C bus")?;
@@ -70,6 +71,20 @@ fn main() -> color_eyre::Result<()> {
     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 relative and absolute encoder values are synchronized");
+    let mut relative = c.new_relative()?;
+    c.set_motor_speed(-40, 40)?;
+    thread::sleep(Duration::from_millis(200));
+    c.standby()?;
+    thread::sleep(Duration::from_millis(1000)); // Let some time to stop
+    assert_eq!(
+        c.get_encoder_ticks()?,
+        c.get_relative_encoder_ticks(&mut relative)?
+    );
+
+    println!("- Check that relative encoder values are updated correctly");
+    assert_eq!(c.get_relative_encoder_ticks(&mut relative)?, (0, 0));
+
     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));
@@ -117,5 +132,6 @@ fn main() -> color_eyre::Result<()> {
     thread::sleep(Duration::from_millis(1500)); // Let some time to stop
     let (left, right) = c.get_encoder_ticks()?;
     assert!(left > 0 && right < 0);
+
     Ok(())
 }