Merge branch 'main' into 2027

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

@@ -81,7 +81,18 @@ class AlertTest {
   }
 
   @Test
-  void setUnset() {
+  void setUnsetSingle() {
+    try (var one = makeAlert("one", AlertType.kInfo)) {
+      assertFalse(isAlertActive("one", AlertType.kInfo));
+      one.set(true);
+      assertTrue(isAlertActive("one", AlertType.kInfo));
+      one.set(false);
+      assertFalse(isAlertActive("one", AlertType.kInfo));
+    }
+  }
+
+  @Test
+  void setUnsetMultiple() {
     try (var one = makeAlert("one", AlertType.kError);
         var two = makeAlert("two", AlertType.kInfo)) {
       assertFalse(isAlertActive("one", AlertType.kError));

wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java

@@ -63,6 +63,17 @@ class ElevatorSimTest {
     }
   }
 
+  @Test
+  void testInitialState() {
+    double startingHeightMeters = 0.5;
+    var sim =
+        new ElevatorSim(
+            DCMotor.getKrakenX60(2), 20, 8.0, 0.1, 0.0, 1.0, true, startingHeightMeters, 0.01, 0.0);
+
+    assertEquals(startingHeightMeters, sim.getPosition());
+    assertEquals(0, sim.getVelocity());
+  }
+
   @Test
   void testMinMax() {
     var sim =

wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSimTest.java

@@ -12,28 +12,46 @@ import edu.wpi.first.math.util.Units;
 import org.junit.jupiter.api.Test;
 
 class SingleJointedArmSimTest {
-  SingleJointedArmSim m_sim =
-      new SingleJointedArmSim(
-          DCMotor.getVex775Pro(2),
-          300,
-          3.0,
-          Units.inchesToMeters(30.0),
-          -Math.PI,
-          0.0,
-          true,
-          Math.PI / 2.0);
-
   @Test
   void testArmDisabled() {
+    SingleJointedArmSim sim =
+        new SingleJointedArmSim(
+            DCMotor.getVex775Pro(2),
+            300,
+            3.0,
+            Units.inchesToMeters(30.0),
+            -Math.PI,
+            0.0,
+            true,
+            Math.PI / 2.0);
+
     // Reset Arm angle to 0
-    m_sim.setState(VecBuilder.fill(0.0, 0.0));
+    sim.setState(VecBuilder.fill(0.0, 0.0));
 
     for (int i = 0; i < 12 / 0.02; i++) {
-      m_sim.setInput(0.0);
-      m_sim.update(0.020);
+      sim.setInput(0.0);
+      sim.update(0.020);
     }
 
     // the arm should swing down
-    assertEquals(-Math.PI / 2.0, m_sim.getAngle(), 0.1);
+    assertEquals(-Math.PI / 2.0, sim.getAngle(), 0.1);
+  }
+
+  @Test
+  void testInitialState() {
+    double startingAngleRads = Math.PI / 4.0;
+    SingleJointedArmSim sim =
+        new SingleJointedArmSim(
+            DCMotor.getKrakenX60(2),
+            125,
+            3.0,
+            Units.inchesToMeters(30.0),
+            0,
+            Math.PI / 2.0,
+            true,
+            startingAngleRads);
+
+    assertEquals(startingAngleRads, sim.getAngle());
+    assertEquals(0, sim.getVelocity());
   }
 }