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Fixes the GyroTest

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Change-Id: Ia72fcb0533ea4e91b5f7e469e1a0b367eebda3b7
This commit is contained in:
Jonathan Leitschuh
2014-10-22 16:46:39 -04:00
parent 132804a4ce
commit 93925bc025
1 changed files with 21 additions and 6 deletions
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27
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/GyroTest.java
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@@ -22,7 +22,7 @@ public class GyroTest extends AbstractComsSetup {
private static final Logger logger = Logger.getLogger(GyroTest.class.getName());
public static final double TEST_ANGLE = 180.0;
public static final double TEST_ANGLE = 90.0;
private TiltPanCameraFixture tpcam;
@@ -56,11 +56,26 @@ public class GyroTest extends AbstractComsSetup {
*/
@Test
public void testGyroAngle() {
for(int i = 0; i < 1800; i++) {
tpcam.getPan().setAngle(i / 10.0);
Timer.delay(0.001);
//Set angle
for(int i = 0; i < 5; i++) {
tpcam.getPan().setAngle(45);
Timer.delay(.1);
}
//Reset for setup
tpcam.getGyro().reset();
//Prevent drift
for(int i = 0; i < 10; i++) {
tpcam.getPan().setAngle(45);
Timer.delay(.1);
}
//Perform test
for(int i = 450; i < 1350; i++) {
tpcam.getPan().setAngle(i / 10.0);
Timer.delay(0.005);
}
Timer.delay(.2);
double angle = tpcam.getGyro().getAngle();
@@ -68,7 +83,7 @@ public class GyroTest extends AbstractComsSetup {
double diff = Math.abs(difference);
assertEquals(errorMessage(diff, TEST_ANGLE), TEST_ANGLE, angle, 8);
assertEquals(errorMessage(diff, TEST_ANGLE), TEST_ANGLE, angle, 4);
}
@Test