DummySensor class, shoot is tested

src/main/java/frc4388/utility/DummySensor.java

@@ -0,0 +1,74 @@
+// 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;
+
+import java.util.ArrayList;
+
+public class DummySensor {
+
+  private double value;
+  public double start;
+  public static ArrayList<DummySensor> instances = new ArrayList<DummySensor>();
+
+  /**
+   * Creates a new DummySensor, which is a helper class for conducting PID tests without a physical robot.
+   * @param init The start "position" of the sensor (default is 0).
+   */
+  public DummySensor(double init) {
+    value = init;
+    start = init;
+    instances.add(this);
+  }
+
+  /**
+   * Creates a new DummySensor, which is a helper class for conducting PID tests without a physical robot.
+   */
+  public DummySensor() {
+    value = 0;
+    start = 0;
+    instances.add(this);
+  }
+
+  /**
+   * Reset the "position" of the DummySensor to its starting value.
+   */
+  public void reset() {
+    value = start;
+  }
+
+  /**
+   * Reset the "position" of the DummySensor to a given value.
+   * @param val The "position" to reset the DummySensor to.
+   */
+  public void reset(double val) {
+    value = val;
+  }
+
+  /**
+   * Reset all instances of DummySensor to their starting values.
+   */
+  public static void resetAll() {
+    for (DummySensor instance : instances) {
+      instance.reset();
+    }
+  }
+
+  /**
+   * Get the "position" of the DummySensor.
+   * @return The current "position".
+   */
+  public double get() {
+    return value;
+  }
+
+  /**
+   * Apply an input to the DummySensor, changing its "position".
+   * @param input The input to apply.
+   */
+  public void apply(double input) {
+    value = value + input;
+  }
+
+}

src/main/java/frc4388/utility/Gains.java

@@ -6,14 +6,14 @@ package frc4388.utility;
 
 /** Add your docs here. */
 public class Gains {
-  public double m_kP;
-  public double m_kI;
-  public double m_kD;
-  public double m_kF;
-  public int m_kIzone;
-  public double m_kPeakOutput;
-  public double m_kmaxOutput;
-  public double m_kminOutput;
+  public double kP;
+  public double kI;
+  public double kD;
+  public double kF;
+  public int kIzone;
+  public double kPeakOutput;
+  public double kmaxOutput;
+  public double kminOutput;
 
   /**
    * Creates Gains object for PIDs
@@ -26,14 +26,14 @@ public class Gains {
    */
   public Gains(double kP, double kI, double kD, double kF, int kIzone, double kPeakOutput)
   {
-    m_kP = kP;
-    m_kI = kI;
-    m_kD = kD;
-    m_kF = kF;
-    m_kIzone = kIzone;
-    m_kPeakOutput = kPeakOutput;
-    m_kmaxOutput = m_kPeakOutput;
-    m_kminOutput = -m_kPeakOutput;
+    this.kP = kP;
+    this.kI = kI;
+    this.kD = kD;
+    this.kF = kF;
+    this.kIzone = kIzone;
+    this.kPeakOutput = kPeakOutput;
+    this.kmaxOutput = this.kPeakOutput;
+    this.kminOutput = -this.kPeakOutput;
   }
 
   /**
@@ -48,13 +48,13 @@ public class Gains {
    */
   public Gains(double kP, double kI, double kD, double kF, int kIzone, double kMinOutput, double kMaxOutput)
   {
-    m_kP = kP;
-    m_kI = kI;
-    m_kD = kD;
-    m_kF = kF;
-    m_kIzone = kIzone;
-    m_kminOutput = kMinOutput;
-    m_kmaxOutput = kMaxOutput;
-    m_kPeakOutput = (Math.abs(m_kminOutput) > Math.abs(m_kmaxOutput)) ? Math.abs(m_kminOutput) : Math.abs(m_kmaxOutput);
+    this.kP = kP;
+    this.kI = kI;
+    this.kD = kD;
+    this.kF = kF;
+    this.kIzone = kIzone;
+    this.kminOutput = kMinOutput;
+    this.kmaxOutput = kMaxOutput;
+    this.kPeakOutput = (Math.abs(this.kminOutput) > Math.abs(this.kmaxOutput)) ? Math.abs(this.kminOutput) : Math.abs(this.kmaxOutput);
   }
 }