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[wpilibj] Use try with resources for Java tests (#2612)

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This commit is contained in:
Peter Johnson
2020-07-24 13:07:11 -07:00
committed by GitHub
parent e759dad019
commit 0fe2319dfc
37 changed files with 1235 additions and 1255 deletions
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64
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2020 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. */
@@ -177,47 +177,45 @@ public class MotorEncoderTest extends AbstractComsSetup {
@Test
public void testPositionPIDController() {
PIDController pidController = new PIDController(0.001, 0.0005, 0);
pidController.setTolerance(50.0);
pidController.setIntegratorRange(-0.2, 0.2);
pidController.setSetpoint(1000);
try (PIDController pidController = new PIDController(0.001, 0.0005, 0)) {
pidController.setTolerance(50.0);
pidController.setIntegratorRange(-0.2, 0.2);
pidController.setSetpoint(1000);
Notifier pidRunner = new Notifier(() -> {
var speed = pidController.calculate(me.getEncoder().getDistance());
me.getMotor().set(MathUtil.clamp(speed, -0.2, 0.2));
});
try (Notifier pidRunner = new Notifier(() -> {
var speed = pidController.calculate(me.getEncoder().getDistance());
me.getMotor().set(MathUtil.clamp(speed, -0.2, 0.2));
})) {
pidRunner.startPeriodic(pidController.getPeriod());
Timer.delay(10.0);
pidRunner.stop();
pidRunner.startPeriodic(pidController.getPeriod());
Timer.delay(10.0);
pidRunner.stop();
assertTrue(
"PID loop did not reach reference within 10 seconds. The current error was" + pidController
.getPositionError(), pidController.atSetpoint());
pidRunner.close();
assertTrue(
"PID loop did not reach reference within 10 seconds. The current error was"
+ pidController.getPositionError(), pidController.atSetpoint());
}
}
}
@Test
public void testVelocityPIDController() {
LinearFilter filter = LinearFilter.movingAverage(50);
PIDController pidController = new PIDController(1e-5, 0.0, 0.0006);
pidController.setTolerance(200);
pidController.setSetpoint(600);
try (PIDController pidController = new PIDController(1e-5, 0.0, 0.0006)) {
pidController.setTolerance(200);
pidController.setSetpoint(600);
Notifier pidRunner = new Notifier(() -> {
var speed = filter.calculate(me.getEncoder().getRate());
me.getMotor().set(MathUtil.clamp(speed, -0.3, 0.3));
});
try (Notifier pidRunner = new Notifier(() -> {
var speed = filter.calculate(me.getEncoder().getRate());
me.getMotor().set(MathUtil.clamp(speed, -0.3, 0.3));
})) {
pidRunner.startPeriodic(pidController.getPeriod());
Timer.delay(10.0);
pidRunner.stop();
pidRunner.startPeriodic(pidController.getPeriod());
Timer.delay(10.0);
pidRunner.stop();
assertTrue("PID loop did not reach reference within 10 seconds. The error was: " + pidController
.getPositionError(), pidController.atSetpoint());
pidRunner.close();
assertTrue("PID loop did not reach reference within 10 seconds. The error was: "
+ pidController.getPositionError(), pidController.atSetpoint());
}
}
}
/**