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[examples] Fix flaky ArmSimulationTest (#7170)

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Co-authored-by: Starlight220 <53231611+Starlight220@users.noreply.github.com>
This commit is contained in:
Nicholas Armstrong
2024-10-11 01:07:52 -04:00
committed by GitHub
parent fc83d4868c
commit 5acb4109ff
2 changed files with 8 additions and 11 deletions
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8
wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/ArmSimulationTest.cpp
View File

@@ -50,11 +50,11 @@ class ArmSimulationTest : public testing::TestWithParam<units::degree_t> {
TEST_P(ArmSimulationTest, Teleop) {
EXPECT_TRUE(frc::Preferences::ContainsKey(kArmPositionKey));
EXPECT_TRUE(frc::Preferences::ContainsKey(kArmPKey));
EXPECT_DOUBLE_EQ(kDefaultArmSetpoint.value(),
frc::Preferences::GetDouble(kArmPositionKey, NAN));
frc::Preferences::SetDouble(kArmPositionKey, GetParam().value());
units::degree_t setpoint = GetParam();
EXPECT_DOUBLE_EQ(setpoint.value(),
frc::Preferences::GetDouble(kArmPositionKey, NAN));
// teleop init
{
frc::sim::DriverStationSim::SetAutonomous(false);
@@ -68,7 +68,7 @@ TEST_P(ArmSimulationTest, Teleop) {
{
frc::sim::StepTiming(3_s);
// Ensure elevator is still at 0.
// Ensure arm is still at minimum angle.
EXPECT_NEAR(kMinAngle.value(), m_encoderSim.GetDistance(), 2.0);
}

11
wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/armsimulation/ArmSimulationTest.java
View File

@@ -71,11 +71,8 @@ class ArmSimulationTest {
void teleopTest(double setpoint) {
assertTrue(Preferences.containsKey(Constants.kArmPositionKey));
assertTrue(Preferences.containsKey(Constants.kArmPKey));
assertEquals(
Constants.kDefaultArmSetpointDegrees,
Preferences.getDouble(Constants.kArmPositionKey, Double.NaN));
Preferences.setDouble(Constants.kArmPositionKey, setpoint);
assertEquals(setpoint, Preferences.getDouble(Constants.kArmPositionKey, Double.NaN));
// teleop init
{
DriverStationSim.setAutonomous(false);
@@ -87,10 +84,10 @@ class ArmSimulationTest {
}
{
// advance 50 timesteps
// advance 150 timesteps
SimHooks.stepTiming(3);
// Ensure elevator is still at 0.
// Ensure arm is still at minimum angle.
assertEquals(Constants.kMinAngleRads, m_encoderSim.getDistance(), 2.0);
}
@@ -115,7 +112,7 @@ class ArmSimulationTest {
m_joystickSim.setTrigger(false);
m_joystickSim.notifyNewData();
// advance 75 timesteps
// advance 150 timesteps
SimHooks.stepTiming(3.0);
assertEquals(Constants.kMinAngleRads, m_encoderSim.getDistance(), 2.0);