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* Update license
* Remove arcade drive
* Correct indentation
* Disable RobotGyro (new gyro is untested)
This commit is contained in:
nathanrsxtn
2022-01-11 11:05:52 -07:00
parent 731310fbc8
commit 71563e6759
38 changed files with 1507 additions and 1541 deletions
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src/test/java/frc4388/mocks/MockPigeonIMU.java
+35 -38
View File
@@ -1,9 +1,6 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc4388.mocks;
@@ -14,41 +11,41 @@ import com.ctre.phoenix.sensors.PigeonIMU;
* Add your docs here.
*/
public class MockPigeonIMU extends PigeonIMU {
public int m_deviceNumber;
public double currentYaw;
public double currentPitch;
public double currentRoll;
public int m_deviceNumber;
public double currentYaw;
public double currentPitch;
public double currentRoll;
public MockPigeonIMU(int deviceNumber) {
super(deviceNumber);
m_deviceNumber = deviceNumber;
}
public MockPigeonIMU(int deviceNumber) {
super(deviceNumber);
m_deviceNumber = deviceNumber;
}
@Override
public ErrorCode setYaw(double angleDeg) {
currentYaw = angleDeg;
return ErrorCode.OK;
}
@Override
public ErrorCode setYaw(double angleDeg) {
currentYaw = angleDeg;
return ErrorCode.OK;
}
/**
* @param currentPitch the Pitch to set
*/
public void setCurrentPitch(double currentPitch) {
this.currentPitch = currentPitch;
}
/**
* @param currentPitch the Pitch to set
*/
public void setCurrentPitch(double currentPitch) {
this.currentPitch = currentPitch;
}
/**
* @param currentRoll the Roll to set
*/
public void setCurrentRoll(double currentRoll) {
this.currentRoll = currentRoll;
}
/**
* @param currentRoll the Roll to set
*/
public void setCurrentRoll(double currentRoll) {
this.currentRoll = currentRoll;
}
@Override
public ErrorCode getYawPitchRoll(double[] ypr_deg) {
ypr_deg[0] = currentYaw;
ypr_deg[1] = currentPitch;
ypr_deg[2] = currentRoll;
return ErrorCode.OK;
}
@Override
public ErrorCode getYawPitchRoll(double[] ypr_deg) {
ypr_deg[0] = currentYaw;
ypr_deg[1] = currentPitch;
ypr_deg[2] = currentRoll;
return ErrorCode.OK;
}
}
src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.java
+31 -34
View File
@@ -1,9 +1,6 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc4388.robot.subsystems;
@@ -12,7 +9,7 @@ import static org.mockito.Mockito.mock;
import org.junit.Test;
import edu.wpi.first.wpilibj.*;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import frc4388.robot.Constants.LEDConstants;
import frc4388.utility.LEDPatterns;
@@ -20,40 +17,40 @@ import frc4388.utility.LEDPatterns;
* Add your docs here.
*/
public class LEDSubsystemTest {
@Test
public void testConstructor() {
// Arrange
Spark ledController = mock(Spark.class);
@Test
public void testConstructor() {
// Arrange
Spark ledController = mock(Spark.class);
// Act
LED led = new LED(ledController);
// Act
LED led = new LED(ledController);
// Assert
assertEquals(LEDConstants.DEFAULT_PATTERN.getValue(), led.getPattern().getValue(), 0.0001);
}
// Assert
assertEquals(LEDConstants.DEFAULT_PATTERN.getValue(), led.getPattern().getValue(), 0.0001);
}
@Test
public void testPatterns() {
// Arrange
Spark ledController = mock(Spark.class);
LED led = new LED(ledController);
@Test
public void testPatterns() {
// Arrange
Spark ledController = mock(Spark.class);
LED led = new LED(ledController);
// Act
led.setPattern(LEDPatterns.RAINBOW_RAINBOW);
// Act
led.setPattern(LEDPatterns.RAINBOW_RAINBOW);
// Assert
assertEquals(LEDPatterns.RAINBOW_RAINBOW.getValue(), led.getPattern().getValue(), 0.0001);
// Assert
assertEquals(LEDPatterns.RAINBOW_RAINBOW.getValue(), led.getPattern().getValue(), 0.0001);
// Act
led.setPattern(LEDPatterns.BLUE_BREATH);
// Act
led.setPattern(LEDPatterns.BLUE_BREATH);
// Assert
assertEquals(LEDPatterns.BLUE_BREATH.getValue(), led.getPattern().getValue(), 0.0001);
// Assert
assertEquals(LEDPatterns.BLUE_BREATH.getValue(), led.getPattern().getValue(), 0.0001);
// Act
led.setPattern(LEDPatterns.SOLID_BLACK);
// Act
led.setPattern(LEDPatterns.SOLID_BLACK);
// Assert
assertEquals(LEDPatterns.SOLID_BLACK.getValue(), led.getPattern().getValue(), 0.0001);
}
// Assert
assertEquals(LEDPatterns.SOLID_BLACK.getValue(), led.getPattern().getValue(), 0.0001);
}
}
src/test/java/frc4388/utility/RobotGyroUtilityTest.java → src/test/java/frc4388/utility/RobotGyroUtilityTest.java.old
+3 -6
View File
@@ -1,9 +1,6 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc4388.utility;
src/test/java/frc4388/utility/RobotTimeUtilityTest.java
+75 -78
View File
@@ -1,9 +1,6 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc4388.utility;
@@ -15,90 +12,90 @@ import org.junit.*;
* Add your docs here.
*/
public class RobotTimeUtilityTest {
RobotTime robotTime = RobotTime.getInstance();
RobotTime robotTime = RobotTime.getInstance();
@Test
public void testUpdateTimes() {
// Arrange
long lastTime;
robotTime.m_deltaTime = 0;
robotTime.m_robotTime = 0;
robotTime.m_lastRobotTime = 0;
robotTime.m_frameNumber = 0;
robotTime.endMatchTime();
robotTime.m_lastMatchTime = 0;
@Test
public void testUpdateTimes() {
// Arrange
long lastTime;
robotTime.m_deltaTime = 0;
robotTime.m_robotTime = 0;
robotTime.m_lastRobotTime = 0;
robotTime.m_frameNumber = 0;
robotTime.endMatchTime();
robotTime.m_lastMatchTime = 0;
// Assert
assertEquals(0, robotTime.m_deltaTime);
assertEquals(0, robotTime.m_robotTime);
assertEquals(0, robotTime.m_lastRobotTime);
assertEquals(0, robotTime.m_frameNumber);
lastTime = robotTime.m_robotTime;
// Assert
assertEquals(0, robotTime.m_deltaTime);
assertEquals(0, robotTime.m_robotTime);
assertEquals(0, robotTime.m_lastRobotTime);
assertEquals(0, robotTime.m_frameNumber);
lastTime = robotTime.m_robotTime;
// Act
wait(1);
robotTime.updateTimes();
// Act
wait(1);
robotTime.updateTimes();
// Assert
assertEquals(true, robotTime.m_deltaTime > 0);
assertEquals(true, robotTime.m_robotTime > 0);
assertEquals(lastTime, robotTime.m_lastRobotTime);
assertEquals(1, robotTime.m_frameNumber);
lastTime = robotTime.m_robotTime;
// Assert
assertEquals(true, robotTime.m_deltaTime > 0);
assertEquals(true, robotTime.m_robotTime > 0);
assertEquals(lastTime, robotTime.m_lastRobotTime);
assertEquals(1, robotTime.m_frameNumber);
lastTime = robotTime.m_robotTime;
// Act
wait(1);
robotTime.updateTimes();
// Act
wait(1);
robotTime.updateTimes();
// Assert
assertEquals(true, robotTime.m_deltaTime > 0);
assertEquals(true, robotTime.m_robotTime > 0);
assertEquals(lastTime, robotTime.m_lastRobotTime);
assertEquals(2, robotTime.m_frameNumber);
}
// Assert
assertEquals(true, robotTime.m_deltaTime > 0);
assertEquals(true, robotTime.m_robotTime > 0);
assertEquals(lastTime, robotTime.m_lastRobotTime);
assertEquals(2, robotTime.m_frameNumber);
}
@Test
public void testMatchTime() {
// Arrange
long lastTime;
@Test
public void testMatchTime() {
// Arrange
long lastTime;
// Assert
assertEquals(0, robotTime.m_matchTime);
assertEquals(0, robotTime.m_lastMatchTime);
lastTime = robotTime.m_matchTime;
// Assert
assertEquals(0, robotTime.m_matchTime);
assertEquals(0, robotTime.m_lastMatchTime);
lastTime = robotTime.m_matchTime;
// Act
robotTime.startMatchTime();
wait(1);
robotTime.updateTimes();
// Act
robotTime.startMatchTime();
wait(1);
robotTime.updateTimes();
// Assert
assertEquals(true, robotTime.m_matchTime > 0);
assertEquals(lastTime, robotTime.m_lastMatchTime);
lastTime = robotTime.m_matchTime;
// Act
wait(1);
robotTime.updateTimes();
robotTime.endMatchTime();
// Assert
assertEquals(true, robotTime.m_matchTime > 0);
assertEquals(lastTime, robotTime.m_lastMatchTime);
lastTime = robotTime.m_matchTime;
// Act
wait(1);
robotTime.updateTimes();
robotTime.endMatchTime();
// Assert
assertEquals(0, robotTime.m_matchTime);
assertEquals(lastTime, robotTime.m_lastMatchTime);
lastTime = robotTime.m_matchTime;
// Assert
assertEquals(0, robotTime.m_matchTime);
assertEquals(lastTime, robotTime.m_lastMatchTime);
lastTime = robotTime.m_matchTime;
// Act
wait(1);
robotTime.updateTimes();
// Act
wait(1);
robotTime.updateTimes();
// Assert
assertEquals(0, robotTime.m_matchTime);
assertEquals(lastTime, robotTime.m_lastMatchTime);
}
// Assert
assertEquals(0, robotTime.m_matchTime);
assertEquals(lastTime, robotTime.m_lastMatchTime);
}
private void wait(int millis) {
try {
Thread.sleep(millis);
} catch (Exception e) {}
}
private void wait(int millis) {
try {
Thread.sleep(millis);
} catch (Exception e) {}
}
}