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Cleanup code and improve Templates

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This commit is contained in:
Keenan D. Buckley
2020-04-11 13:18:40 -06:00
parent fc82caf124
commit 63c6d3dea0
5 changed files with 71 additions and 61 deletions
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.templates/SubsystemTest.java
+7 -13
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@@ -5,21 +5,21 @@
/* the project. */
/*----------------------------------------------------------------------------*/
package frc4388.utility;
package frc4388.robot.subsystems;
import static org.junit.Assert.*;
import static org.mockito.Mockito.*;
import org.junit.*;
import edu.wpi.first.wpilibj.*;
import static org.mockito.Mockito.mock;
import static org.mockito.Mockito.verify;
import edu.wpi.first.wpilibj.Spark;
import frc4388.robot.Constants.LEDConstants;
import frc4388.utility.LEDPatterns;
/**
* Add your docs here.
* Based off the LEDSubsystemTest class
*/
public class UtilityTest {
public class SubsystemTest {
@Test
public void testConstructor() {
// Arrange
@@ -56,10 +56,4 @@ public class UtilityTest {
// Assert
assertEquals(LEDPatterns.SOLID_BLACK.getValue(), led.getPattern().getValue(), 0.0001);
}
private void wait(int millis) {
try {
Thread.sleep(millis);
} catch (Exception e) {}
}
}
.templates/UtilityTest.java
+37 -23
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@@ -9,39 +9,53 @@ package frc4388.utility;
import static org.junit.Assert.*;
import static org.mockito.Mockito.*;
import com.kauailabs.navx.frc.AHRS;
import org.junit.*;
import edu.wpi.first.wpilibj.*;
import static org.mockito.Mockito.mock;
import static org.mockito.Mockito.verify;
import frc4388.mocks.MockPigeonIMU;
import frc4388.robot.Constants.DriveConstants;
/**
* Add your docs here.
* Based on the RobotGyroUtilityTest class
*/
public class UtilityTest {
@Test
public void testExample() {
// Arrange
boolean isFalse = false;
int i = 0;
double d = 0.0;
private RobotGyro gyroPigeon;
private RobotGyro gyroNavX;
// Act
wait(1);
isFalse = !isFalse;
i++;
d -= Math.PI;
@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(1, i);
assertEquals(-Math.PI, d, 0.001);
assertEquals(true, isFalse);
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());
}
private void wait(int millis) {
try {
Thread.sleep(millis);
} catch (Exception e) {}
@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);
}
}
src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.java
+5 -9
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@@ -7,9 +7,11 @@
package frc4388.robot.subsystems;
import static org.junit.Assert.*;
import static org.mockito.Mockito.*;
import org.junit.*;
import static org.junit.Assert.assertEquals;
import static org.mockito.Mockito.mock;
import org.junit.Test;
import edu.wpi.first.wpilibj.*;
import frc4388.robot.Constants.LEDConstants;
import frc4388.utility.LEDPatterns;
@@ -54,10 +56,4 @@ public class LEDSubsystemTest {
// Assert
assertEquals(LEDPatterns.SOLID_BLACK.getValue(), led.getPattern().getValue(), 0.0001);
}
private void wait(int millis) {
try {
Thread.sleep(millis);
} catch (Exception e) {}
}
}
src/test/java/frc4388/utility/RobotGyroUtilityTest.java
+2 -4
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@@ -9,15 +9,13 @@ package frc4388.utility;
import static org.junit.Assert.*;
import static org.mockito.Mockito.*;
import org.junit.*;
import edu.wpi.first.wpilibj.*;
import com.ctre.phoenix.sensors.PigeonIMU;
import com.kauailabs.navx.frc.AHRS;
import org.junit.*;
import frc4388.mocks.MockPigeonIMU;
import frc4388.robot.Constants.DriveConstants;
import frc4388.utility.RobotGyro;
/**
* Add your docs here.
src/test/java/frc4388/utility/RobotTimeUtilityTest.java
+20 -12
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@@ -8,10 +8,8 @@
package frc4388.utility;
import static org.junit.Assert.*;
import static org.mockito.Mockito.*;
import org.junit.*;
import edu.wpi.first.wpilibj.*;
import org.junit.*;
/**
* Add your docs here.
@@ -21,7 +19,7 @@ public class RobotTimeUtilityTest {
@Test
public void testUpdateTimes() {
// SETUP
// Arrange
long lastTime;
robotTime.m_deltaTime = 0;
robotTime.m_robotTime = 0;
@@ -30,25 +28,29 @@ public class RobotTimeUtilityTest {
robotTime.endMatchTime();
robotTime.m_lastMatchTime = 0;
// TEST 1
// Assert
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
// Act
wait(1);
robotTime.updateTimes();
// Assert
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
// Act
wait(1);
robotTime.updateTimes();
// Assert
assertEquals(true, robotTime.m_deltaTime > 0);
assertEquals(true, robotTime.m_robotTime > 0);
assertEquals(lastTime, robotTime.m_lastRobotTime);
@@ -57,33 +59,39 @@ public class RobotTimeUtilityTest {
@Test
public void testMatchTime() {
// SETUP
// Arrange
long lastTime;
// TEST 1
// Assert
assertEquals(0, robotTime.m_matchTime);
assertEquals(0, robotTime.m_lastMatchTime);
lastTime = robotTime.m_matchTime;
// TEST 2
// Act
robotTime.startMatchTime();
wait(1);
robotTime.updateTimes();
// Assert
assertEquals(true, robotTime.m_matchTime > 0);
assertEquals(lastTime, robotTime.m_lastMatchTime);
lastTime = robotTime.m_matchTime;
// TEST 3
// Act
wait(1);
robotTime.updateTimes();
robotTime.endMatchTime();
// Assert
assertEquals(0, robotTime.m_matchTime);
assertEquals(lastTime, robotTime.m_lastMatchTime);
lastTime = robotTime.m_matchTime;
// TEST 4
// Act
wait(1);
robotTime.updateTimes();
// Assert
assertEquals(0, robotTime.m_matchTime);
assertEquals(lastTime, robotTime.m_lastMatchTime);
}