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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/RobotTimeUtilityTest.java
+15 -12
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@@ -21,29 +21,34 @@ public class RobotTimeUtilityTest {
@Test
public void testUpdateTimes() {
// SETUP
long lastTime;
robotTime.m_deltaTime = 0;
robotTime.m_robotTime = 0;
robotTime.m_lastRobotTime = 0;
robotTime.m_frameNumber = 0;
robotTime.endMatchTime();
robotTime.m_lastMatchTime = 0;
// Initialisation
// TEST 1
assertEquals(0, robotTime.m_deltaTime);
assertEquals(0, robotTime.m_robotTime);
assertEquals(0, robotTime.m_lastRobotTime);
assertEquals(0, robotTime.m_frameNumber);
lastTime = robotTime.m_robotTime;
// TEST 2
wait(1);
robotTime.updateTimes();
// First Frame
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;
// TEST 3
wait(1);
robotTime.updateTimes();
// Second Frame
assertEquals(true, robotTime.m_deltaTime > 0);
assertEquals(true, robotTime.m_robotTime > 0);
assertEquals(lastTime, robotTime.m_lastRobotTime);
@@ -52,35 +57,33 @@ public class RobotTimeUtilityTest {
@Test
public void testMatchTime() {
// SETUP
long lastTime;
// Second Frame
// TEST 1
assertEquals(0, robotTime.m_matchTime);
assertEquals(0, robotTime.m_lastMatchTime);
lastTime = robotTime.m_matchTime;
// TEST 2
robotTime.startMatchTime();
wait(1);
robotTime.updateTimes();
// Third Frame
assertEquals(true, robotTime.m_matchTime > 0);
assertEquals(lastTime, robotTime.m_lastMatchTime);
lastTime = robotTime.m_matchTime;
// TEST 3
wait(1);
robotTime.updateTimes();
robotTime.endMatchTime();
// Fourth Frame
assertEquals(0, robotTime.m_matchTime);
assertEquals(lastTime, robotTime.m_lastMatchTime);
lastTime = robotTime.m_matchTime;
// TEST 4
wait(1);
robotTime.updateTimes();
// Fifth Frame
assertEquals(0, robotTime.m_matchTime);
assertEquals(lastTime, robotTime.m_lastMatchTime);
}