1 files changed, 35 insertions, 0 deletions
diff --git a/zumo/protocoltest/protocoltest.cpp b/zumo/protocoltest/protocoltest.cpp
new file mode 100644
index 0000000..461221e
--- /dev/null
+++ b/zumo/protocoltest/protocoltest.cpp
@@ -0,0 +1,35 @@
+#include <cstdio>
+#include <random>
+
+#include "../protocol.h"
+
+void print_state(dui_state_t* s) {
+	printf("{ steer = %1.3f\n  speed = %1.3f }\n", s->steer, s->speed);
+}
+
+void test_case(unsigned char cmd, dui_state_t* s) {
+	printf("\ncmd in = 0x%02x\n", cmd);
+	handle_cmd(cmd, s);
+	print_state(s);
+}
+
+int main() {
+	dui_state_t state = {
+		.steer = 0.f,
+		.speed = 1.f,
+		.current_sign = DUI_SIGN_NONE,
+		.speed_mod = 1.f,
+	};
+
+	test_case(0x00, &state);
+	test_case(0x01, &state);
+	test_case(0x02, &state);
+	test_case(0x10, &state);
+	test_case(0x15, &state);
+	test_case(0x1f, &state);
+	test_case(0x20, &state);
+	test_case(0x25, &state);
+	test_case(0x2f, &state);
+	test_case(0x88, &state);
+	test_case(0xff, &state);
+}