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Applies Google Styleguide to Java parts of the library (#23)

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This was partially applied to simulation but
simulation is a bit of a mess and has a lot of duplicated code.
This commit is contained in:
Jonathan Leitschuh
2016-05-20 12:07:40 -04:00
committed by Peter Johnson
parent 64ab6e51fe
commit a834fff7b2
266 changed files with 15574 additions and 14718 deletions
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57
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/GyroTest.java
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@@ -7,25 +7,28 @@
package edu.wpi.first.wpilibj;
import static org.junit.Assert.assertEquals;
import java.util.logging.Logger;
import org.junit.After;
import org.junit.Before;
import org.junit.Test;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.fixtures.TiltPanCameraFixture;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.test.TestBench;
import static org.junit.Assert.assertEquals;
/**
* Tests that the {@link TiltPanCameraFixture}.
*/
public class GyroTest extends AbstractComsSetup {
private static final Logger logger = Logger.getLogger(GyroTest.class.getName());
public static final double TEST_ANGLE = 90.0;
private TiltPanCameraFixture tpcam;
private TiltPanCameraFixture m_tpcam;
@Override
protected Logger getClassLogger() {
@@ -35,20 +38,20 @@ public class GyroTest extends AbstractComsSetup {
@Before
public void setUp() throws Exception {
logger.fine("Setup: TiltPan camera");
tpcam = TestBench.getInstance().getTiltPanCam();
tpcam.setup();
m_tpcam = TestBench.getInstance().getTiltPanCam();
m_tpcam.setup();
}
@After
public void tearDown() throws Exception {
tpcam.teardown();
m_tpcam.teardown();
}
@Test
public void testAllGyroTests() {
testInitial(tpcam.getGyro());
testDeviationOverTime(tpcam.getGyro());
testGyroAngle(tpcam.getGyro());
testInitial(m_tpcam.getGyro());
testDeviationOverTime(m_tpcam.getGyro());
testGyroAngle(m_tpcam.getGyro());
testGyroAngleCalibratedParameters();
}
@@ -58,15 +61,14 @@ public class GyroTest extends AbstractComsSetup {
}
/**
* Test to see if the Servo and the gyroscope is turning 90 degrees Note servo
* on TestBench is not the same type of servo that servo class was designed
* for so setAngle is significantly off. This has been calibrated for the
* servo on the rig.
* Test to see if the Servo and the gyroscope is turning 90 degrees Note servo on TestBench is not
* the same type of servo that servo class was designed for so setAngle is significantly off. This
* has been calibrated for the servo on the rig.
*/
public void testGyroAngle(AnalogGyro gyro) {
// Set angle
for (int i = 0; i < 5; i++) {
tpcam.getPan().set(0);
m_tpcam.getPan().set(0);
Timer.delay(.1);
}
@@ -77,7 +79,7 @@ public class GyroTest extends AbstractComsSetup {
// Perform test
for (int i = 0; i < 53; i++) {
tpcam.getPan().set(i / 100.0);
m_tpcam.getPan().set(i / 100.0);
Timer.delay(0.05);
}
Timer.delay(1.2);
@@ -91,7 +93,8 @@ public class GyroTest extends AbstractComsSetup {
assertEquals(errorMessage(diff, TEST_ANGLE), TEST_ANGLE, angle, 10);
}
public void testDeviationOverTime(AnalogGyro gyro) {
protected void testDeviationOverTime(AnalogGyro gyro) {
// Make sure that the test isn't influenced by any previous motions.
Timer.delay(0.5);
gyro.reset();
@@ -104,20 +107,20 @@ public class GyroTest extends AbstractComsSetup {
}
/**
* Gets calibrated parameters from already calibrated gyro, allocates a
* new gyro with the center and offset parameters, and re-runs the test.
* Gets calibrated parameters from already calibrated gyro, allocates a new gyro with the center
* and offset parameters, and re-runs the test.
*/
public void testGyroAngleCalibratedParameters() {
// Get calibrated parameters to make new Gyro with parameters
double cOffset = tpcam.getGyro().getOffset();
int cCenter = tpcam.getGyro().getCenter();
tpcam.freeGyro();
tpcam.setupGyroParam(cCenter, cOffset);
final double calibratedOffset = m_tpcam.getGyro().getOffset();
final int calibratedCenter = m_tpcam.getGyro().getCenter();
m_tpcam.freeGyro();
m_tpcam.setupGyroParam(calibratedCenter, calibratedOffset);
Timer.delay(TiltPanCameraFixture.RESET_TIME);
// Repeat tests
testInitial(tpcam.getGyroParam());
testDeviationOverTime(tpcam.getGyroParam());
testGyroAngle(tpcam.getGyroParam());
testInitial(m_tpcam.getGyroParam());
testDeviationOverTime(m_tpcam.getGyroParam());
testGyroAngle(m_tpcam.getGyroParam());
}
private String errorMessage(double difference, double target) {