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Create Mock PigeonIMU and write more Unit tests

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- Test to make sure the RoboyGyro class knows what kind of gyro its using
- Test to make sure all the getters for the gyro class work (at least for pigeon)
This commit is contained in:
Keenan D. Buckley
2020-03-29 00:10:06 -06:00
parent f06b36e443
commit d354ac078b
4 changed files with 128 additions and 19 deletions
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src/test/java/frc4388/utility/RobotGyroUtilityTest.java
+72 -11
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@@ -13,26 +13,87 @@ import org.junit.*;
import edu.wpi.first.wpilibj.*;
import com.ctre.phoenix.sensors.PigeonIMU;
import com.kauailabs.navx.frc.AHRS;
import frc4388.mocks.MockPigeonIMU;
import frc4388.robot.Constants.DriveConstants;
import frc4388.utility.RobotGyro;
/**
* Add your docs here.
*/
public class RobotGyroUtilityTest {
// Arrange
RobotGyro gyro = new RobotGyro(mock(PigeonIMU.class));
MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
RobotGyro gyroPigeon = new RobotGyro(pigeon);
AHRS navX = mock(AHRS.class);
RobotGyro gyroNavX = new RobotGyro(navX);
// TODO UNTESTED: calibrate(), getRate(), and most functions for NavX
@Test
public void testConfig() {
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());
}
@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);
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);
}
@Test
public void testYawPitchRoll() {
assertEquals(0, gyroPigeon.getAngle(), 0.0001);
pigeon.setYaw(40);
assertEquals(40, gyroPigeon.getAngle(), 0.0001);
gyroPigeon.reset();
assertEquals(0, gyroPigeon.getAngle(), 0.0001);
pigeon.setYaw(-1457);
pigeon.setCurrentPitch(100);
pigeon.setCurrentRoll(100);
assertEquals(-1457, gyroPigeon.getAngle(), 0.0001);
assertEquals(90, gyroPigeon.getPitch(), 0.0001);
assertEquals(90, gyroPigeon.getRoll(), 0.0001);
pigeon.setCurrentPitch(45);
pigeon.setCurrentRoll(45);
assertEquals(45, gyroPigeon.getPitch(), 0.0001);
assertEquals(45, gyroPigeon.getRoll(), 0.0001);
pigeon.setCurrentPitch(0);
pigeon.setCurrentRoll(0);
assertEquals(0, gyroPigeon.getPitch(), 0.0001);
assertEquals(0, gyroPigeon.getRoll(), 0.0001);
pigeon.setCurrentPitch(-60);
pigeon.setCurrentRoll(-60);
assertEquals(-60, gyroPigeon.getPitch(), 0.0001);
assertEquals(-60, gyroPigeon.getRoll(), 0.0001);
pigeon.setCurrentPitch(-90);
pigeon.setCurrentRoll(-90);
assertEquals(-90, gyroPigeon.getPitch(), 0.0001);
assertEquals(-90, gyroPigeon.getRoll(), 0.0001);
pigeon.setCurrentPitch(-100);
pigeon.setCurrentRoll(-100);
assertEquals(-90, gyroPigeon.getPitch(), 0.0001);
assertEquals(-90, gyroPigeon.getRoll(), 0.0001);
}
}