From 32d9949e4dca32e50a127c5e4683c495536cf0b0 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Mon, 6 Sep 2021 17:00:13 -0700
Subject: [PATCH] [wpimath] Move controller tests to wpimath (#3541)

---
 .../native/cpp/controller/HolonomicDriveControllerTest.cpp  | 4 ++--
 .../src/test/native/cpp/controller/PIDInputOutputTest.cpp   | 0
 .../src/test/native/cpp/controller/PIDToleranceTest.cpp     | 0
 .../native/cpp/controller/ProfiledPIDInputOutputTest.cpp    | 6 +++---
 .../test/native/cpp/controller/RamseteControllerTest.cpp    | 3 +--
 5 files changed, 6 insertions(+), 7 deletions(-)
 rename {wpilibc => wpimath}/src/test/native/cpp/controller/HolonomicDriveControllerTest.cpp (98%)
 rename {wpilibc => wpimath}/src/test/native/cpp/controller/PIDInputOutputTest.cpp (100%)
 rename {wpilibc => wpimath}/src/test/native/cpp/controller/PIDToleranceTest.cpp (100%)
 rename {wpilibc => wpimath}/src/test/native/cpp/controller/ProfiledPIDInputOutputTest.cpp (97%)
 rename {wpilibc => wpimath}/src/test/native/cpp/controller/RamseteControllerTest.cpp (98%)

diff --git a/wpilibc/src/test/native/cpp/controller/HolonomicDriveControllerTest.cpp b/wpimath/src/test/native/cpp/controller/HolonomicDriveControllerTest.cpp
similarity index 98%
rename from wpilibc/src/test/native/cpp/controller/HolonomicDriveControllerTest.cpp
rename to wpimath/src/test/native/cpp/controller/HolonomicDriveControllerTest.cpp
index 0c3a0b6a24..dbec19f169 100644
--- a/wpilibc/src/test/native/cpp/controller/HolonomicDriveControllerTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/HolonomicDriveControllerTest.cpp
@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <units/math.h>
-#include <units/time.h>
 #include <wpi/numbers>
 
 #include "frc/MathUtil.h"
 #include "frc/controller/HolonomicDriveController.h"
 #include "frc/trajectory/TrajectoryGenerator.h"
 #include "gtest/gtest.h"
+#include "units/math.h"
+#include "units/time.h"
 
 #define EXPECT_NEAR_UNITS(val1, val2, eps) \
   EXPECT_LE(units::math::abs(val1 - val2), eps)
diff --git a/wpilibc/src/test/native/cpp/controller/PIDInputOutputTest.cpp b/wpimath/src/test/native/cpp/controller/PIDInputOutputTest.cpp
similarity index 100%
rename from wpilibc/src/test/native/cpp/controller/PIDInputOutputTest.cpp
rename to wpimath/src/test/native/cpp/controller/PIDInputOutputTest.cpp
diff --git a/wpilibc/src/test/native/cpp/controller/PIDToleranceTest.cpp b/wpimath/src/test/native/cpp/controller/PIDToleranceTest.cpp
similarity index 100%
rename from wpilibc/src/test/native/cpp/controller/PIDToleranceTest.cpp
rename to wpimath/src/test/native/cpp/controller/PIDToleranceTest.cpp
diff --git a/wpilibc/src/test/native/cpp/controller/ProfiledPIDInputOutputTest.cpp b/wpimath/src/test/native/cpp/controller/ProfiledPIDInputOutputTest.cpp
similarity index 97%
rename from wpilibc/src/test/native/cpp/controller/ProfiledPIDInputOutputTest.cpp
rename to wpimath/src/test/native/cpp/controller/ProfiledPIDInputOutputTest.cpp
index 24e3daf61f..71bb5a83cb 100644
--- a/wpilibc/src/test/native/cpp/controller/ProfiledPIDInputOutputTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/ProfiledPIDInputOutputTest.cpp
@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <units/angle.h>
-#include <units/angular_acceleration.h>
-#include <units/angular_velocity.h>
 #include <wpi/numbers>
 
 #include "frc/controller/ProfiledPIDController.h"
 #include "gtest/gtest.h"
+#include "units/angle.h"
+#include "units/angular_acceleration.h"
+#include "units/angular_velocity.h"
 
 class ProfiledPIDInputOutputTest : public testing::Test {
  protected:
diff --git a/wpilibc/src/test/native/cpp/controller/RamseteControllerTest.cpp b/wpimath/src/test/native/cpp/controller/RamseteControllerTest.cpp
similarity index 98%
rename from wpilibc/src/test/native/cpp/controller/RamseteControllerTest.cpp
rename to wpimath/src/test/native/cpp/controller/RamseteControllerTest.cpp
index 101dea2b87..244e4d43c8 100644
--- a/wpilibc/src/test/native/cpp/controller/RamseteControllerTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/RamseteControllerTest.cpp
@@ -2,12 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <units/math.h>
-
 #include "frc/MathUtil.h"
 #include "frc/controller/RamseteController.h"
 #include "frc/trajectory/TrajectoryGenerator.h"
 #include "gtest/gtest.h"
+#include "units/math.h"
 
 #define EXPECT_NEAR_UNITS(val1, val2, eps) \
   EXPECT_LE(units::math::abs(val1 - val2), eps)