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[wpilibc] Clean up integration tests (#3400)

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The command and shuffleboard integration tests were removed because
their unit tests counterparts already provide adequate coverage. Java
already removed these.
This commit is contained in:
Tyler Veness
2021-05-31 10:21:34 -07:00
committed by GitHub
parent 4f7a4464df
commit 93523d572e
38 changed files with 662 additions and 2232 deletions
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46
wpilibcIntegrationTests/src/main/native/cpp/MotorInvertingTest.cpp
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@@ -12,8 +12,6 @@
#include "frc/motorcontrol/Victor.h"
#include "gtest/gtest.h"
using namespace frc;
enum MotorInvertingTestType { TEST_VICTOR, TEST_JAGUAR, TEST_TALON };
static constexpr double kMotorSpeed = 0.15;
@@ -37,34 +35,34 @@ std::ostream& operator<<(std::ostream& os, MotorInvertingTestType const& type) {
class MotorInvertingTest
: public testing::TestWithParam<MotorInvertingTestType> {
protected:
MotorController* m_motorController;
Encoder* m_encoder;
frc::MotorController* m_motorController;
frc::Encoder* m_encoder;
void SetUp() override {
MotorInvertingTest() {
switch (GetParam()) {
case TEST_VICTOR:
m_motorController = new Victor(TestBench::kVictorChannel);
m_encoder = new Encoder(TestBench::kVictorEncoderChannelA,
TestBench::kVictorEncoderChannelB);
m_motorController = new frc::Victor(TestBench::kVictorChannel);
m_encoder = new frc::Encoder(TestBench::kVictorEncoderChannelA,
TestBench::kVictorEncoderChannelB);
break;
case TEST_JAGUAR:
m_motorController = new Jaguar(TestBench::kJaguarChannel);
m_encoder = new Encoder(TestBench::kJaguarEncoderChannelA,
TestBench::kJaguarEncoderChannelB);
m_motorController = new frc::Jaguar(TestBench::kJaguarChannel);
m_encoder = new frc::Encoder(TestBench::kJaguarEncoderChannelA,
TestBench::kJaguarEncoderChannelB);
break;
case TEST_TALON:
m_motorController = new Talon(TestBench::kTalonChannel);
m_encoder = new Encoder(TestBench::kTalonEncoderChannelA,
TestBench::kTalonEncoderChannelB);
m_motorController = new frc::Talon(TestBench::kTalonChannel);
m_encoder = new frc::Encoder(TestBench::kTalonEncoderChannelA,
TestBench::kTalonEncoderChannelB);
break;
}
}
void TearDown() override {
delete m_motorController;
~MotorInvertingTest() {
delete m_encoder;
delete m_motorController;
}
void Reset() {
@@ -79,13 +77,13 @@ TEST_P(MotorInvertingTest, InvertingPositive) {
m_motorController->Set(kMotorSpeed);
Wait(kDelayTime);
frc::Wait(kDelayTime);
bool initDirection = m_encoder->GetDirection();
m_motorController->SetInverted(true);
m_motorController->Set(kMotorSpeed);
Wait(kDelayTime);
frc::Wait(kDelayTime);
EXPECT_TRUE(m_encoder->GetDirection() != initDirection)
<< "Inverting with Positive value does not change direction";
@@ -99,13 +97,13 @@ TEST_P(MotorInvertingTest, InvertingNegative) {
m_motorController->SetInverted(false);
m_motorController->Set(-kMotorSpeed);
Wait(kDelayTime);
frc::Wait(kDelayTime);
bool initDirection = m_encoder->GetDirection();
m_motorController->SetInverted(true);
m_motorController->Set(-kMotorSpeed);
Wait(kDelayTime);
frc::Wait(kDelayTime);
EXPECT_TRUE(m_encoder->GetDirection() != initDirection)
<< "Inverting with Negative value does not change direction";
@@ -119,13 +117,13 @@ TEST_P(MotorInvertingTest, InvertingSwitchingPosToNeg) {
m_motorController->SetInverted(false);
m_motorController->Set(kMotorSpeed);
Wait(kDelayTime);
frc::Wait(kDelayTime);
bool initDirection = m_encoder->GetDirection();
m_motorController->SetInverted(true);
m_motorController->Set(-kMotorSpeed);
Wait(kDelayTime);
frc::Wait(kDelayTime);
EXPECT_TRUE(m_encoder->GetDirection() == initDirection)
<< "Inverting with Switching value does change direction";
@@ -139,13 +137,13 @@ TEST_P(MotorInvertingTest, InvertingSwitchingNegToPos) {
m_motorController->SetInverted(false);
m_motorController->Set(-kMotorSpeed);
Wait(kDelayTime);
frc::Wait(kDelayTime);
bool initDirection = m_encoder->GetDirection();
m_motorController->SetInverted(true);
m_motorController->Set(kMotorSpeed);
Wait(kDelayTime);
frc::Wait(kDelayTime);
EXPECT_TRUE(m_encoder->GetDirection() == initDirection)
<< "Inverting with Switching value does change direction";