Add SpeedControllerGroup (#362)

wpilibj/src/test/java/edu/wpi/first/wpilibj/MockSpeedController.java

@@ -0,0 +1,48 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj;
+
+public class MockSpeedController implements SpeedController {
+  private double m_speed = 0.0;
+  private boolean m_isInverted = false;
+
+  @Override
+  public void set(double speed) {
+    m_speed = m_isInverted ? -speed : speed;
+  }
+
+  @Override
+  public double get() {
+    return m_speed;
+  }
+
+  @Override
+  public void setInverted(boolean isInverted) {
+    m_isInverted = isInverted;
+  }
+
+  @Override
+  public boolean getInverted() {
+    return m_isInverted;
+  }
+
+  @Override
+  public void disable() {
+    m_speed = 0;
+  }
+
+  @Override
+  public void stopMotor() {
+    disable();
+  }
+
+  @Override
+  public void pidWrite(double output) {
+    set(output);
+  }
+}

wpilibj/src/test/java/edu/wpi/first/wpilibj/SpeedControllerGroupTest.java

@@ -0,0 +1,114 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj;
+
+import org.junit.Test;
+import org.junit.runner.RunWith;
+import org.junit.runners.Parameterized;
+
+import java.util.Arrays;
+import java.util.Collection;
+
+import static org.junit.Assert.assertArrayEquals;
+import static org.junit.Assert.assertTrue;
+
+@RunWith(Parameterized.class)
+public class SpeedControllerGroupTest {
+  private final SpeedController[] m_speedControllers;
+  private final SpeedControllerGroup m_group;
+
+  /**
+   * Returns a Collection of ArrayLists with various MockSpeedController configurations.
+   */
+  @Parameterized.Parameters
+  public static Collection<Object[][]> data() {
+    return Arrays.asList((Object[][][]) new SpeedController[][][] {
+        {{new MockSpeedController()}},
+        {{new MockSpeedController(),
+            new MockSpeedController()}},
+        {{new MockSpeedController(),
+            new MockSpeedController(),
+            new MockSpeedController()}}
+    });
+  }
+
+  /**
+   * Construct SpeedControllerGroupTest.
+   */
+  public SpeedControllerGroupTest(SpeedController[] speedControllers) {
+    m_group = new SpeedControllerGroup(speedControllers[0],
+        Arrays.copyOfRange(speedControllers, 1, speedControllers.length));
+    m_speedControllers = speedControllers;
+  }
+
+  @Test
+  public void testSet() {
+    m_group.set(1.0);
+
+    assertArrayEquals(Arrays.stream(m_speedControllers).mapToDouble(__ -> 1.0).toArray(),
+        Arrays.stream(m_speedControllers).mapToDouble(SpeedController::get).toArray(),
+        0.0);
+  }
+
+  @Test
+  public void testGetInverted() {
+    m_group.setInverted(true);
+
+    assertTrue(m_group.getInverted());
+  }
+
+  @Test
+  public void testSetInvertedDoesNotModifySpeedControllers() {
+    for (SpeedController speedController : m_speedControllers) {
+      speedController.setInverted(false);
+    }
+    m_group.setInverted(true);
+
+    assertArrayEquals(Arrays.stream(m_speedControllers).map(__ -> false).toArray(),
+        Arrays.stream(m_speedControllers).map(SpeedController::getInverted).toArray());
+  }
+
+  @Test
+  public void testSetInvertedDoesInvert() {
+    m_group.setInverted(true);
+    m_group.set(1.0);
+
+    assertArrayEquals(Arrays.stream(m_speedControllers).mapToDouble(__ -> -1.0).toArray(),
+        Arrays.stream(m_speedControllers).mapToDouble(SpeedController::get).toArray(),
+        0.0);
+  }
+
+  @Test
+  public void testDisable() {
+    m_group.set(1.0);
+    m_group.disable();
+
+    assertArrayEquals(Arrays.stream(m_speedControllers).mapToDouble(__ -> 0.0).toArray(),
+        Arrays.stream(m_speedControllers).mapToDouble(SpeedController::get).toArray(),
+        0.0);
+  }
+
+  @Test
+  public void testStopMotor() {
+    m_group.set(1.0);
+    m_group.stopMotor();
+
+    assertArrayEquals(Arrays.stream(m_speedControllers).mapToDouble(__ -> 0.0).toArray(),
+        Arrays.stream(m_speedControllers).mapToDouble(SpeedController::get).toArray(),
+        0.0);
+  }
+
+  @Test
+  public void testPidWrite() {
+    m_group.pidWrite(1.0);
+
+    assertArrayEquals(Arrays.stream(m_speedControllers).mapToDouble(__ -> 1.0).toArray(),
+        Arrays.stream(m_speedControllers).mapToDouble(SpeedController::get).toArray(),
+        0.0);
+  }
+}