From 2ef9e2f4b2eaecd3b3298aa6198fc5530e1df19c Mon Sep 17 00:00:00 2001 From: aarav18 Date: Sat, 22 Jan 2022 13:56:12 -0700 Subject: [PATCH] Delete RobotGyroUtilityTest.java --- .../frc4388/utility/RobotGyroUtilityTest.java | 184 ------------------ 1 file changed, 184 deletions(-) delete mode 100644 src/test/java/frc4388/utility/RobotGyroUtilityTest.java diff --git a/src/test/java/frc4388/utility/RobotGyroUtilityTest.java b/src/test/java/frc4388/utility/RobotGyroUtilityTest.java deleted file mode 100644 index 8c0b1e5..0000000 --- a/src/test/java/frc4388/utility/RobotGyroUtilityTest.java +++ /dev/null @@ -1,184 +0,0 @@ -/*----------------------------------------------------------------------------*/ -/* 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); - } -}