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Add tests for getRate() function in RobotGyro

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This commit is contained in:
Keenan D. Buckley
2020-04-08 10:27:33 -06:00
parent a56ca65d14
commit 1ec273a39b
5 changed files with 80 additions and 16 deletions
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src/test/java/frc4388/utility/RobotGyroUtilityTest.java
+59 -3
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@@ -27,14 +27,18 @@ public class RobotGyroUtilityTest {
RobotGyro gyroPigeon = new RobotGyro(pigeon);
AHRS navX = mock(AHRS.class);
RobotGyro gyroNavX = new RobotGyro(navX);
RobotTime robotTime = RobotTime.getInstance();
// TODO UNTESTED: calibrate(), getRate(), and most functions for NavX
// TODO UNTESTED: most functions for NavX
@Test
public void testConfig() {
// TEST 1
assertEquals(true, gyroPigeon.m_isGyroAPigeon);
assertEquals(pigeon, gyroPigeon.getPigeon());
assertEquals(null, gyroPigeon.getNavX());
// TEST 2
assertEquals(false, gyroNavX.m_isGyroAPigeon);
assertEquals(navX, gyroNavX.getNavX());
assertEquals(null, gyroNavX.getPigeon());
@@ -42,7 +46,7 @@ public class RobotGyroUtilityTest {
@Test
public void testHeading() {
// Act & Assert
// TESTS
assertEquals(-90, gyroPigeon.getHeading(270), 0.0001);
assertEquals(-45, gyroPigeon.getHeading(315), 0.0001);
assertEquals(-60, gyroPigeon.getHeading(-60), 0.0001);
@@ -55,15 +59,19 @@ public class RobotGyroUtilityTest {
}
@Test
public void testYawPitchRoll() {
public void testYawPitchRoll() {
// TEST 1
assertEquals(0, gyroPigeon.getAngle(), 0.0001);
// TEST 2
pigeon.setYaw(40);
assertEquals(40, gyroPigeon.getAngle(), 0.0001);
// TEST 3
gyroPigeon.reset();
assertEquals(0, gyroPigeon.getAngle(), 0.0001);
// TEST 4
pigeon.setYaw(-1457);
pigeon.setCurrentPitch(100);
pigeon.setCurrentRoll(100);
@@ -71,29 +79,77 @@ public class RobotGyroUtilityTest {
assertEquals(90, gyroPigeon.getPitch(), 0.0001);
assertEquals(90, gyroPigeon.getRoll(), 0.0001);
// TEST 5
pigeon.setCurrentPitch(45);
pigeon.setCurrentRoll(45);
assertEquals(45, gyroPigeon.getPitch(), 0.0001);
assertEquals(45, gyroPigeon.getRoll(), 0.0001);
// TEST 6
pigeon.setCurrentPitch(0);
pigeon.setCurrentRoll(0);
assertEquals(0, gyroPigeon.getPitch(), 0.0001);
assertEquals(0, gyroPigeon.getRoll(), 0.0001);
// TEST 7
pigeon.setCurrentPitch(-60);
pigeon.setCurrentRoll(-60);
assertEquals(-60, gyroPigeon.getPitch(), 0.0001);
assertEquals(-60, gyroPigeon.getRoll(), 0.0001);
// TEST 8
pigeon.setCurrentPitch(-90);
pigeon.setCurrentRoll(-90);
assertEquals(-90, gyroPigeon.getPitch(), 0.0001);
assertEquals(-90, gyroPigeon.getRoll(), 0.0001);
// TEST 9
pigeon.setCurrentPitch(-100);
pigeon.setCurrentRoll(-100);
assertEquals(-90, gyroPigeon.getPitch(), 0.0001);
assertEquals(-90, gyroPigeon.getRoll(), 0.0001);
}
@Test
public void testRates() {
// SETUP
pigeon.setYaw(0);
gyroPigeon.updatePigeonDeltas();
// TEST 1
robotTime.m_deltaTime = 5;
pigeon.setYaw(0);
gyroPigeon.updatePigeonDeltas();
assertEquals(0, gyroPigeon.getRate(), 1);
// TEST 2
robotTime.m_deltaTime = 5;
pigeon.setYaw(90);
gyroPigeon.updatePigeonDeltas();
assertEquals(18000, gyroPigeon.getRate(), 0.001);
// TEST 3
robotTime.m_deltaTime = 5;
pigeon.setYaw(90);
gyroPigeon.updatePigeonDeltas();
assertEquals(0, gyroPigeon.getRate(), 0.001);
// TEST 4
robotTime.m_deltaTime = 3;
pigeon.setYaw(-30);
gyroPigeon.updatePigeonDeltas();
assertEquals(-40000, gyroPigeon.getRate(), 0.001);
// TEST 5
robotTime.m_deltaTime = 6;
pigeon.setYaw(690);
gyroPigeon.updatePigeonDeltas();
assertEquals(120000, gyroPigeon.getRate(), 0.001);
}
private void wait(int millis) {
try {
Thread.sleep(millis);
} catch (Exception e) {}
}
}