Delete RobotGyroUtilityTest.java

src/test/java/frc4388/utility/RobotGyroUtilityTest.java

@@ -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);
-    }
-}