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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
wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/armsimulation/ArmSimulationTest.java
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@@ -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);
}
}
}