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Basic swerve stuff

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Also separated arcade from swerve everywhere in the code.
This commit is contained in:
aarav18
2021-11-15 17:52:28 -07:00
parent 0bc2442ec1
commit a3d2b5f029
8 changed files with 58 additions and 36 deletions
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src/test/java/frc4388/utility/RobotGyroUtilityTest.java
+5 -5
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@@ -15,7 +15,7 @@ import com.kauailabs.navx.frc.AHRS;
import org.junit.*;
import frc4388.mocks.MockPigeonIMU;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.Constants.ArcadeDriveConstants;
/**
* Add your docs here.
@@ -29,7 +29,7 @@ public class RobotGyroUtilityTest {
@Test
public void testConstructor() {
// Arrange
MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
MockPigeonIMU pigeon = new MockPigeonIMU(ArcadeDriveConstants.DRIVE_PIGEON_ID);
AHRS navX = mock(AHRS.class);
gyroPigeon = new RobotGyro(pigeon);
gyroNavX = new RobotGyro(navX);
@@ -46,7 +46,7 @@ public class RobotGyroUtilityTest {
@Test
public void testHeadingPigeon() {
// Arrange
MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
MockPigeonIMU pigeon = new MockPigeonIMU(ArcadeDriveConstants.DRIVE_PIGEON_ID);
gyroPigeon = new RobotGyro(pigeon);
// Act & Assert
@@ -64,7 +64,7 @@ public class RobotGyroUtilityTest {
@Test
public void testYawPitchRollPigeon() {
// Arrange
MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
MockPigeonIMU pigeon = new MockPigeonIMU(ArcadeDriveConstants.DRIVE_PIGEON_ID);
gyroPigeon = new RobotGyro(pigeon);
// Assert
@@ -136,7 +136,7 @@ public class RobotGyroUtilityTest {
@Test
public void testRatesPigeon() {
// Arrange
MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
MockPigeonIMU pigeon = new MockPigeonIMU(ArcadeDriveConstants.DRIVE_PIGEON_ID);
gyroPigeon = new RobotGyro(pigeon);
RobotTime robotTime = RobotTime.getInstance();
gyroPigeon.updatePigeonDeltas();