Cleanup code and improve Templates

.templates/SubsystemTest.java

@@ -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 edu.wpi.first.wpilibj.Spark;
-
+import frc4388.robot.Constants.LEDConstants;
-import static org.mockito.Mockito.mock;
+import frc4388.utility.LEDPatterns;
-import static org.mockito.Mockito.verify;
 
 /**
- * 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

@@ -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 frc4388.mocks.MockPigeonIMU;
-
+import frc4388.robot.Constants.DriveConstants;
-import static org.mockito.Mockito.mock;
-import static org.mockito.Mockito.verify;
 
 /**
- * Add your docs here.
+ * Based on the RobotGyroUtilityTest class
  */
 public class UtilityTest {
-    @Test
+    private RobotGyro gyroPigeon;
-    public void testExample() {
+    private RobotGyro gyroNavX;
-        // Arrange
-        boolean isFalse = false;
-        int i = 0;
-        double d = 0.0;
 
-        // Act
+    @Test
-        wait(1);
+    public void testConstructor() {
-        isFalse = !isFalse;
+        // Arrange
-        i++;
+        MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
-        d -= Math.PI;
+        AHRS navX = mock(AHRS.class);
+        gyroPigeon = new RobotGyro(pigeon);
+        gyroNavX = new RobotGyro(navX);
 
         // Assert
-        assertEquals(1, i);
+        assertEquals(true, gyroPigeon.m_isGyroAPigeon);
-        assertEquals(-Math.PI, d, 0.001);
+        assertEquals(pigeon, gyroPigeon.getPigeon());
-        assertEquals(true, isFalse);
+        assertEquals(null, gyroPigeon.getNavX());
+        assertEquals(false, gyroNavX.m_isGyroAPigeon);
+        assertEquals(navX, gyroNavX.getNavX());
+        assertEquals(null, gyroNavX.getPigeon());
     }
 
-    private void wait(int millis) {
+    @Test
-        try {
+    public void testHeadingPigeon() {
-            Thread.sleep(millis);
+        // Arrange
-        } catch (Exception e) {}
+        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

@@ -7,9 +7,11 @@
 
 package frc4388.robot.subsystems;
 
-import static org.junit.Assert.*;
+import static org.junit.Assert.assertEquals;
-import static org.mockito.Mockito.*;
+import static org.mockito.Mockito.mock;
-import org.junit.*;
+
+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

@@ -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

@@ -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);
     }