From 91c70daf5b36c62d3293e6609ca417d5288ce7bc Mon Sep 17 00:00:00 2001
From: James Kuszmaul <jabukuszmaul+collab@gmail.com>
Date: Thu, 20 Nov 2014 16:39:00 -0500
Subject: [PATCH] Tried to improve reliability of a couple of unit tests.

Change-Id: I45307da855808e85c8f9b9958c7590d60636f8e9
---
 .../src/TiltPanCameraTest.cpp                       | 12 ++++++++----
 .../main/java/edu/wpi/first/wpilibj/GyroTest.java   | 13 +++++++------
 2 files changed, 15 insertions(+), 10 deletions(-)

diff --git a/wpilibc/wpilibC++IntegrationTests/src/TiltPanCameraTest.cpp b/wpilibc/wpilibC++IntegrationTests/src/TiltPanCameraTest.cpp
index 9e9f2839f9..5bd56b8c4a 100644
--- a/wpilibc/wpilibC++IntegrationTests/src/TiltPanCameraTest.cpp
+++ b/wpilibc/wpilibC++IntegrationTests/src/TiltPanCameraTest.cpp
@@ -13,9 +13,9 @@ static constexpr double kServoResetTime = 2.0;
 
 static constexpr double kTestAngle = 180.0;
 
-static constexpr double kTiltSetpoint0 = 0.16;
-static constexpr double kTiltSetpoint45 = 0.385;
-static constexpr double kTiltSetpoint90 = 0.61;
+static constexpr double kTiltSetpoint0 = 0.22;
+static constexpr double kTiltSetpoint45 = 0.45;
+static constexpr double kTiltSetpoint90 = 0.68;
 static constexpr double kTiltTime = 1.0;
 static constexpr double kAccelerometerTolerance = 0.2;
 
@@ -73,9 +73,13 @@ TEST_F(TiltPanCameraTest, DefaultGyroAngle) {
  * Test if the servo turns 180 degrees and the gyroscope measures this angle
  */
 TEST_F(TiltPanCameraTest, GyroAngle) {
+  // Make sure that the gyro doesn't get jerked when the servo goes to zero.
+  m_pan->SetAngle(0.0);
+  Wait(0.25);
+  m_gyro->Reset();
+
 	for(int i = 0; i < 1800; i++) {
 		m_pan->SetAngle(i / 10.0);
-
 		Wait(0.001);
 	}
 
diff --git a/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/GyroTest.java b/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/GyroTest.java
index ed58142a06..45cd063ced 100644
--- a/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/GyroTest.java
+++ b/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/GyroTest.java
@@ -61,14 +61,11 @@ public class GyroTest extends AbstractComsSetup {
 			tpcam.getPan().setAngle(45);
 			Timer.delay(.1);
 		}
+
+    Timer.delay(0.5);
 		//Reset for setup
 		tpcam.getGyro().reset();
-		
-		//Prevent drift
-		for(int i = 0; i < 10; i++) {
-			tpcam.getPan().setAngle(45);
-			Timer.delay(.1);
-		}
+    Timer.delay(0.5);
 		
 		//Perform test
 		for(int i = 450; i < 1350; i++) {
@@ -88,6 +85,10 @@ public class GyroTest extends AbstractComsSetup {
 
 	@Test
 	public void testDeviationOverTime(){
+    // Make sure that the test isn't influenced by any previous motions.
+    Timer.delay(0.25);
+    tpcam.getGyro().reset();
+    Timer.delay(0.25);
 		double angle = tpcam.getGyro().getAngle();
 		assertEquals(errorMessage(angle, 0), 0, angle, .5);
 		Timer.delay(5);