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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/main/java/frc4388/robot/RobotMap.java
+1
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@@ -33,6 +33,7 @@ public class RobotMap {
public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
void configureLEDMotorControllers() {
}
/* Drive Subsystem */
src/main/java/frc4388/utility/RobotGyro.java
+1 -1
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@@ -159,7 +159,7 @@ public class RobotGyro extends GyroBase {
@Override
public double getRate() {
if (m_isGyroAPigeon) {
return m_deltaPigeonAngle / (m_robotTime.m_deltaTime * 1000);
return m_deltaPigeonAngle / m_robotTime.m_deltaTime * 1000;
} else {
return m_navX.getRate();
}
src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.java
+4
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@@ -23,14 +23,18 @@ public class LEDSubsystemTest {
@Test
public void testPatterns() {
// TEST 1
assertEquals(LEDConstants.DEFAULT_PATTERN.getValue(), led.getPattern().getValue(), 0.0001);
// TEST 2
led.setPattern(LEDPatterns.RAINBOW_RAINBOW);
assertEquals(LEDPatterns.RAINBOW_RAINBOW.getValue(), led.getPattern().getValue(), 0.0001);
// TEST 3
led.setPattern(LEDPatterns.BLUE_BREATH);
assertEquals(LEDPatterns.BLUE_BREATH.getValue(), led.getPattern().getValue(), 0.0001);
// TEST 4
led.setPattern(LEDPatterns.SOLID_BLACK);
assertEquals(LEDPatterns.SOLID_BLACK.getValue(), led.getPattern().getValue(), 0.0001);
}
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) {}
}
}
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);
}