From 49af88f2bb8d270554c1a779b7b50d132fe0b2b5 Mon Sep 17 00:00:00 2001
From: Starlight220 <53231611+Starlight220@users.noreply.github.com>
Date: Mon, 13 Feb 2023 22:59:27 +0200
Subject: [PATCH] [examples] ArmSimulation: Fix flaky test (#5093)

---
 .../ArmSimulation/cpp/ArmSimulationTest.cpp        | 14 +++++++-------
 .../examples/armsimulation/ArmSimulationTest.java  | 14 +++++++-------
 2 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/ArmSimulationTest.cpp b/wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/ArmSimulationTest.cpp
index 30e85f3e36..56b1d19a84 100644
--- a/wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/ArmSimulationTest.cpp
+++ b/wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/ArmSimulationTest.cpp
@@ -70,7 +70,7 @@ TEST_P(ArmSimulationTest, Teleop) {
     frc::sim::StepTiming(3_s);
 
     // Ensure elevator is still at 0.
-    EXPECT_NEAR(kMinAngle.value(), m_encoderSim.GetDistance(), 1.5);
+    EXPECT_NEAR(kMinAngle.value(), m_encoderSim.GetDistance(), 2.0);
   }
 
   {
@@ -84,7 +84,7 @@ TEST_P(ArmSimulationTest, Teleop) {
                 units::radian_t(m_encoderSim.GetDistance())
                     .convert<units::degree>()
                     .value(),
-                1.5);
+                2.0);
 
     // see setpoint is held.
     frc::sim::StepTiming(0.5_s);
@@ -93,7 +93,7 @@ TEST_P(ArmSimulationTest, Teleop) {
                 units::radian_t(m_encoderSim.GetDistance())
                     .convert<units::degree>()
                     .value(),
-                1.5);
+                2.0);
   }
 
   {
@@ -103,7 +103,7 @@ TEST_P(ArmSimulationTest, Teleop) {
 
     frc::sim::StepTiming(3_s);
 
-    EXPECT_NEAR(kMinAngle.value(), m_encoderSim.GetDistance(), 1.5);
+    EXPECT_NEAR(kMinAngle.value(), m_encoderSim.GetDistance(), 2.0);
   }
 
   {
@@ -118,7 +118,7 @@ TEST_P(ArmSimulationTest, Teleop) {
                 units::radian_t(m_encoderSim.GetDistance())
                     .convert<units::degree>()
                     .value(),
-                1.5);
+                2.0);
 
     // advance 25 timesteps to see setpoint is held.
     frc::sim::StepTiming(0.5_s);
@@ -127,7 +127,7 @@ TEST_P(ArmSimulationTest, Teleop) {
                 units::radian_t(m_encoderSim.GetDistance())
                     .convert<units::degree>()
                     .value(),
-                1.5);
+                2.0);
   }
 
   {
@@ -139,7 +139,7 @@ TEST_P(ArmSimulationTest, Teleop) {
     frc::sim::StepTiming(3_s);
 
     ASSERT_NEAR(0.0, m_motorSim.GetSpeed(), 0.05);
-    EXPECT_NEAR(kMinAngle.value(), m_encoderSim.GetDistance(), 1.5);
+    EXPECT_NEAR(kMinAngle.value(), m_encoderSim.GetDistance(), 2.0);
   }
 }
 
diff --git a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/armsimulation/ArmSimulationTest.java b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/armsimulation/ArmSimulationTest.java
index 6409063bdc..eeb5e74ea3 100644
--- a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/armsimulation/ArmSimulationTest.java
+++ b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/armsimulation/ArmSimulationTest.java
@@ -91,7 +91,7 @@ class ArmSimulationTest {
       SimHooks.stepTiming(3);
 
       // Ensure elevator is still at 0.
-      assertEquals(Constants.kMinAngleRads, m_encoderSim.getDistance(), 1.5);
+      assertEquals(Constants.kMinAngleRads, m_encoderSim.getDistance(), 2.0);
     }
 
     {
@@ -102,12 +102,12 @@ class ArmSimulationTest {
       // advance 75 timesteps
       SimHooks.stepTiming(1.5);
 
-      assertEquals(setpoint, Units.radiansToDegrees(m_encoderSim.getDistance()), 1.5);
+      assertEquals(setpoint, Units.radiansToDegrees(m_encoderSim.getDistance()), 2.0);
 
       // advance 25 timesteps to see setpoint is held.
       SimHooks.stepTiming(0.5);
 
-      assertEquals(setpoint, Units.radiansToDegrees(m_encoderSim.getDistance()), 1.5);
+      assertEquals(setpoint, Units.radiansToDegrees(m_encoderSim.getDistance()), 2.0);
     }
 
     {
@@ -118,7 +118,7 @@ class ArmSimulationTest {
       // advance 75 timesteps
       SimHooks.stepTiming(3.0);
 
-      assertEquals(Constants.kMinAngleRads, m_encoderSim.getDistance(), 1.5);
+      assertEquals(Constants.kMinAngleRads, m_encoderSim.getDistance(), 2.0);
     }
 
     {
@@ -129,12 +129,12 @@ class ArmSimulationTest {
       // advance 75 timesteps
       SimHooks.stepTiming(1.5);
 
-      assertEquals(setpoint, Units.radiansToDegrees(m_encoderSim.getDistance()), 1.5);
+      assertEquals(setpoint, Units.radiansToDegrees(m_encoderSim.getDistance()), 2.0);
 
       // advance 25 timesteps to see setpoint is held.
       SimHooks.stepTiming(0.5);
 
-      assertEquals(setpoint, Units.radiansToDegrees(m_encoderSim.getDistance()), 1.5);
+      assertEquals(setpoint, Units.radiansToDegrees(m_encoderSim.getDistance()), 2.0);
     }
 
     {
@@ -147,7 +147,7 @@ class ArmSimulationTest {
       SimHooks.stepTiming(3.5);
 
       assertEquals(0.0, m_motorSim.getSpeed(), 0.01);
-      assertEquals(Constants.kMinAngleRads, m_encoderSim.getDistance(), 1.5);
+      assertEquals(Constants.kMinAngleRads, m_encoderSim.getDistance(), 2.0);
     }
   }
 }