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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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40
wpilibcIntegrationTests/src/main/native/cpp/PowerDistributionPanelTest.cpp
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@@ -9,35 +9,15 @@
#include "TestBench.h"
#include "frc/Timer.h"
#include "frc/motorcontrol/Jaguar.h"
#include "frc/motorcontrol/Talon.h"
#include "frc/motorcontrol/Victor.h"
#include "gtest/gtest.h"
using namespace frc;
static constexpr auto kMotorTime = 0.25_s;
class PowerDistributionPanelTest : public testing::Test {
protected:
PowerDistributionPanel* m_pdp;
Talon* m_talon;
Victor* m_victor;
Jaguar* m_jaguar;
void SetUp() override {
m_pdp = new PowerDistributionPanel();
m_talon = new Talon(TestBench::kTalonChannel);
m_victor = new Victor(TestBench::kVictorChannel);
m_jaguar = new Jaguar(TestBench::kJaguarChannel);
}
void TearDown() override {
delete m_pdp;
delete m_talon;
delete m_victor;
delete m_jaguar;
}
frc::PowerDistributionPanel m_pdp;
frc::Talon m_talon{TestBench::kTalonChannel};
};
TEST_F(PowerDistributionPanelTest, CheckRepeatedCalls) {
@@ -45,28 +25,28 @@ TEST_F(PowerDistributionPanelTest, CheckRepeatedCalls) {
// 1 second
for (int i = 0; i < 50; i++) {
for (int j = 0; j < numChannels; j++) {
m_pdp->GetCurrent(j);
m_pdp.GetCurrent(j);
}
m_pdp->GetVoltage();
m_pdp.GetVoltage();
}
Wait(20_ms);
frc::Wait(20_ms);
}
/**
* Test if the current changes when the motor is driven using a talon
*/
TEST_F(PowerDistributionPanelTest, CheckCurrentTalon) {
Wait(kMotorTime);
frc::Wait(kMotorTime);
/* The Current should be 0 */
EXPECT_FLOAT_EQ(0, m_pdp->GetCurrent(TestBench::kTalonPDPChannel))
EXPECT_FLOAT_EQ(0, m_pdp.GetCurrent(TestBench::kTalonPDPChannel))
<< "The Talon current was non-zero";
/* Set the motor to full forward */
m_talon->Set(1.0);
Wait(kMotorTime);
m_talon.Set(1.0);
frc::Wait(kMotorTime);
/* The current should now be positive */
ASSERT_GT(m_pdp->GetCurrent(TestBench::kTalonPDPChannel), 0)
ASSERT_GT(m_pdp.GetCurrent(TestBench::kTalonPDPChannel), 0)
<< "The Talon current was not positive";
}