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[examples] ArmSimulation: Fix flaky test (#5093)

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This commit is contained in:
Starlight220
2023-02-13 22:59:27 +02:00
committed by GitHub
parent d56314f866
commit 49af88f2bb
2 changed files with 14 additions and 14 deletions
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14
wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/ArmSimulationTest.cpp
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@@ -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);
}
}