Team4388/Swerve-Drive
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Basic swerve stuff

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Also separated arcade from swerve everywhere in the code.
This commit is contained in:
aarav18
2021-11-15 17:52:28 -07:00
parent 0bc2442ec1
commit a3d2b5f029
8 changed files with 58 additions and 36 deletions
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.templates/CommandTest.java
+1 -1
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@@ -27,7 +27,7 @@ public class CommandTest {
@Test
public void testExample() {
// Arrange
Drive drive = mock(Drive.class);
ArcadeDrive drive = mock(ArcadeDrive.class);
RunCommand command = new RunCommand(() -> drive.driveWithInput(0, 0), drive);
// Act
.templates/UtilityTest.java
+3 -3
View File
@@ -15,7 +15,7 @@ import com.kauailabs.navx.frc.AHRS;
import org.junit.*;
import frc4388.mocks.MockPigeonIMU;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.Constants.ArcadeDriveConstants;
/**
* Based on the RobotGyroUtilityTest class
@@ -27,7 +27,7 @@ public class UtilityTest {
@Test
public void testConstructor() {
// Arrange
MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
MockPigeonIMU pigeon = new MockPigeonIMU(ArcadeDriveConstants.DRIVE_PIGEON_ID);
AHRS navX = mock(AHRS.class);
gyroPigeon = new RobotGyro(pigeon);
gyroNavX = new RobotGyro(navX);
@@ -44,7 +44,7 @@ public class UtilityTest {
@Test
public void testHeadingPigeon() {
// Arrange
MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
MockPigeonIMU pigeon = new MockPigeonIMU(ArcadeDriveConstants.DRIVE_PIGEON_ID);
gyroPigeon = new RobotGyro(pigeon);
// Act & Assert