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This commit is contained in:
Aarav Shah
2023-01-07 13:36:56 -07:00
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commit e0e7459eb8
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src/test/java/frc4388/mocks/MockPigeonIMU.java
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/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
package frc4388.mocks;
import com.ctre.phoenix.ErrorCode;
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 MockPigeonIMU(int deviceNumber) {
super(deviceNumber);
m_deviceNumber = deviceNumber;
}
@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 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;
}
}
src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.java
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/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
package frc4388.robot.subsystems;
import static org.junit.Assert.assertEquals;
import static org.mockito.Mockito.mock;
import org.junit.Test;
import edu.wpi.first.wpilibj.*;
import frc4388.robot.Constants.LEDConstants;
import frc4388.utility.LEDPatterns;
/**
* Add your docs here.
*/
public class LEDSubsystemTest {
@Test
public void testConstructor() {
// Arrange
Spark ledController = mock(Spark.class);
// Act
LED led = new LED(ledController);
// 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);
// Act
led.setPattern(LEDPatterns.RAINBOW_RAINBOW);
// Assert
assertEquals(LEDPatterns.RAINBOW_RAINBOW.getValue(), led.getPattern().getValue(), 0.0001);
// Act
led.setPattern(LEDPatterns.BLUE_BREATH);
// Assert
assertEquals(LEDPatterns.BLUE_BREATH.getValue(), led.getPattern().getValue(), 0.0001);
// Act
led.setPattern(LEDPatterns.SOLID_BLACK);
// Assert
assertEquals(LEDPatterns.SOLID_BLACK.getValue(), led.getPattern().getValue(), 0.0001);
}
}
src/test/java/frc4388/utility/RobotGyroUtilityTest.java
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/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
package frc4388.utility;
import static org.junit.Assert.*;
import static org.mockito.Mockito.*;
import com.kauailabs.navx.frc.AHRS;
import org.junit.*;
import frc4388.mocks.MockPigeonIMU;
import frc4388.robot.Constants.DriveConstants;
/**
* Add your docs here.
*/
public class RobotGyroUtilityTest {
// TODO UNTESTED: most functions for NavX
private RobotGyro gyroPigeon;
private RobotGyro gyroNavX;
@Test
public void testConstructor() {
// Arrange
MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
AHRS navX = mock(AHRS.class);
gyroPigeon = new RobotGyro(pigeon);
gyroNavX = new RobotGyro(navX);
// Assert
assertEquals(true, gyroPigeon.m_isGyroAPigeon);
assertEquals(pigeon, gyroPigeon.getPigeon());
assertEquals(null, gyroPigeon.getNavX());
assertEquals(false, gyroNavX.m_isGyroAPigeon);
assertEquals(navX, gyroNavX.getNavX());
assertEquals(null, gyroNavX.getPigeon());
}
@Test
public void testHeadingPigeon() {
// Arrange
MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
gyroPigeon = new RobotGyro(pigeon);
// Act & Assert
assertEquals(-90, gyroPigeon.getHeading(270), 0.0001);
assertEquals(-45, gyroPigeon.getHeading(315), 0.0001);
assertEquals(-60, gyroPigeon.getHeading(-60), 0.0001);
assertEquals(30, gyroPigeon.getHeading(30), 0.0001);
assertEquals(0, gyroPigeon.getHeading(0), 0.0001);
assertEquals(180, gyroPigeon.getHeading(180), 0.0001);
assertEquals(-180, gyroPigeon.getHeading(-180), 0.0001);
assertEquals(97, gyroPigeon.getHeading(1537), 0.0001);
assertEquals(99, gyroPigeon.getHeading(-2781), 0.0001);
}
@Test
public void testYawPitchRollPigeon() {
// Arrange
MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
gyroPigeon = new RobotGyro(pigeon);
// Assert
assertEquals(0, gyroPigeon.getAngle(), 0.0001);
// Act
pigeon.setYaw(40);
// Assert
assertEquals(40, gyroPigeon.getAngle(), 0.0001);
// Act
gyroPigeon.reset();
// Assert
assertEquals(0, gyroPigeon.getAngle(), 0.0001);
// Act
pigeon.setYaw(-1457);
pigeon.setCurrentPitch(100);
pigeon.setCurrentRoll(100);
// Assert
assertEquals(-1457, gyroPigeon.getAngle(), 0.0001);
assertEquals(90, gyroPigeon.getPitch(), 0.0001);
assertEquals(90, gyroPigeon.getRoll(), 0.0001);
// Act
pigeon.setCurrentPitch(45);
pigeon.setCurrentRoll(45);
// Assert
assertEquals(45, gyroPigeon.getPitch(), 0.0001);
assertEquals(45, gyroPigeon.getRoll(), 0.0001);
// Act
pigeon.setCurrentPitch(0);
pigeon.setCurrentRoll(0);
// Assert
assertEquals(0, gyroPigeon.getPitch(), 0.0001);
assertEquals(0, gyroPigeon.getRoll(), 0.0001);
// Act
pigeon.setCurrentPitch(-60);
pigeon.setCurrentRoll(-60);
// Assert
assertEquals(-60, gyroPigeon.getPitch(), 0.0001);
assertEquals(-60, gyroPigeon.getRoll(), 0.0001);
// Act
pigeon.setCurrentPitch(-90);
pigeon.setCurrentRoll(-90);
// Assert
assertEquals(-90, gyroPigeon.getPitch(), 0.0001);
assertEquals(-90, gyroPigeon.getRoll(), 0.0001);
// Act
pigeon.setCurrentPitch(-100);
pigeon.setCurrentRoll(-100);
// Assert
assertEquals(-90, gyroPigeon.getPitch(), 0.0001);
assertEquals(-90, gyroPigeon.getRoll(), 0.0001);
}
@Test
public void testRatesPigeon() {
// Arrange
MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
gyroPigeon = new RobotGyro(pigeon);
RobotTime robotTime = RobotTime.getInstance();
gyroPigeon.updatePigeonDeltas();
// Act
robotTime.m_deltaTime = 5;
pigeon.setYaw(0);
gyroPigeon.updatePigeonDeltas();
// Assert
assertEquals(0, gyroPigeon.getRate(), 1);
// Act
robotTime.m_deltaTime = 5;
pigeon.setYaw(90);
gyroPigeon.updatePigeonDeltas();
// Assert
assertEquals(18000, gyroPigeon.getRate(), 0.001);
// Act
robotTime.m_deltaTime = 5;
pigeon.setYaw(90);
gyroPigeon.updatePigeonDeltas();
// Assert
assertEquals(0, gyroPigeon.getRate(), 0.001);
// Act
robotTime.m_deltaTime = 3;
pigeon.setYaw(-30);
gyroPigeon.updatePigeonDeltas();
// Assert
assertEquals(-40000, gyroPigeon.getRate(), 0.001);
// Act
robotTime.m_deltaTime = 6;
pigeon.setYaw(690);
gyroPigeon.updatePigeonDeltas();
// Assert
assertEquals(120000, gyroPigeon.getRate(), 0.001);
}
}
src/test/java/frc4388/utility/RobotTimeUtilityTest.java
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/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
package frc4388.utility;
import static org.junit.Assert.*;
import org.junit.*;
/**
* Add your docs here.
*/
public class RobotTimeUtilityTest {
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;
// 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();
// 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();
// 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;
// Assert
assertEquals(0, robotTime.m_matchTime);
assertEquals(0, robotTime.m_lastMatchTime);
lastTime = robotTime.m_matchTime;
// 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(0, robotTime.m_matchTime);
assertEquals(lastTime, robotTime.m_lastMatchTime);
lastTime = robotTime.m_matchTime;
// Act
wait(1);
robotTime.updateTimes();
// Assert
assertEquals(0, robotTime.m_matchTime);
assertEquals(lastTime, robotTime.m_lastMatchTime);
}
private void wait(int millis) {
try {
Thread.sleep(millis);
} catch (Exception e) {}
}
}