Improve Gyro Heading Test

src/test/java/frc4388/utility/RobotGyroUtilityTest.java

@@ -0,0 +1,38 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+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 frc4388.utility.RobotGyro;
+
+/**
+ * Add your docs here.
+ */
+public class RobotGyroUtilityTest {
+    // Arrange
+    RobotGyro gyro = new RobotGyro(mock(PigeonIMU.class));
+
+    @Test
+    public void testHeading() {
+        // Act & Assert
+        assertEquals(-90, gyro.getHeading(270), 0.0001);
+        assertEquals(-45, gyro.getHeading(315), 0.0001);
+        assertEquals(-60, gyro.getHeading(-60), 0.0001);
+        assertEquals(30, gyro.getHeading(30), 0.0001);
+        assertEquals(0, gyro.getHeading(0), 0.0001);
+        assertEquals(180, gyro.getHeading(180), 0.0001);
+        assertEquals(-180, gyro.getHeading(-180), 0.0001);
+        assertEquals(97, gyro.getHeading(1537), 0.0001);
+        assertEquals(99, gyro.getHeading(-2781), 0.0001);
+    }
+}