Team4388/Robot-Essentials
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Extract RobotGyros to Prevent Resource Leak

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This commit is contained in:
Keenan D. Buckley
2020-04-11 13:07:05 -06:00
parent af09668843
commit fc82caf124
1 changed files with 9 additions and 16 deletions
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src/test/java/frc4388/utility/RobotGyroUtilityTest.java
+9 -16
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@@ -25,22 +25,21 @@ import frc4388.utility.RobotGyro;
public class RobotGyroUtilityTest { public class RobotGyroUtilityTest {
// TODO UNTESTED: most functions for NavX // TODO UNTESTED: most functions for NavX
private RobotGyro gyroPigeon;
private RobotGyro gyroNavX;
@Test @Test
public void testConstructor() { public void testConstructor() {
// Arrange // Arrange
MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID); MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
AHRS navX = mock(AHRS.class); AHRS navX = mock(AHRS.class);
gyroPigeon = new RobotGyro(pigeon);
gyroNavX = new RobotGyro(navX);
// Act // Assert
RobotGyro gyroPigeon = new RobotGyro(pigeon);
RobotGyro gyroNavX = new RobotGyro(navX);
// Assert 1
assertEquals(true, gyroPigeon.m_isGyroAPigeon); assertEquals(true, gyroPigeon.m_isGyroAPigeon);
assertEquals(pigeon, gyroPigeon.getPigeon()); assertEquals(pigeon, gyroPigeon.getPigeon());
assertEquals(null, gyroPigeon.getNavX()); assertEquals(null, gyroPigeon.getNavX());
// Assert 2
assertEquals(false, gyroNavX.m_isGyroAPigeon); assertEquals(false, gyroNavX.m_isGyroAPigeon);
assertEquals(navX, gyroNavX.getNavX()); assertEquals(navX, gyroNavX.getNavX());
assertEquals(null, gyroNavX.getPigeon()); assertEquals(null, gyroNavX.getPigeon());
@@ -50,7 +49,7 @@ public class RobotGyroUtilityTest {
public void testHeadingPigeon() { public void testHeadingPigeon() {
// Arrange // Arrange
MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID); MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
RobotGyro gyroPigeon = new RobotGyro(pigeon); gyroPigeon = new RobotGyro(pigeon);
// Act & Assert // Act & Assert
assertEquals(-90, gyroPigeon.getHeading(270), 0.0001); assertEquals(-90, gyroPigeon.getHeading(270), 0.0001);
@@ -68,7 +67,7 @@ public class RobotGyroUtilityTest {
public void testYawPitchRollPigeon() { public void testYawPitchRollPigeon() {
// Arrange // Arrange
MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID); MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
RobotGyro gyroPigeon = new RobotGyro(pigeon); gyroPigeon = new RobotGyro(pigeon);
// Assert // Assert
assertEquals(0, gyroPigeon.getAngle(), 0.0001); assertEquals(0, gyroPigeon.getAngle(), 0.0001);
@@ -140,7 +139,7 @@ public class RobotGyroUtilityTest {
public void testRatesPigeon() { public void testRatesPigeon() {
// Arrange // Arrange
MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID); MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
RobotGyro gyroPigeon = new RobotGyro(pigeon); gyroPigeon = new RobotGyro(pigeon);
RobotTime robotTime = RobotTime.getInstance(); RobotTime robotTime = RobotTime.getInstance();
gyroPigeon.updatePigeonDeltas(); gyroPigeon.updatePigeonDeltas();
@@ -184,10 +183,4 @@ public class RobotGyroUtilityTest {
// Assert // Assert
assertEquals(120000, gyroPigeon.getRate(), 0.001); assertEquals(120000, gyroPigeon.getRate(), 0.001);
} }
private void wait(int millis) {
try {
Thread.sleep(millis);
} catch (Exception e) {}
}
} }