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PJ Reiniger
2025-11-07 19:55:40 -05:00
committed by Peter Johnson
parent 7ca1be9bae
commit c350c5f112
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wpilibj/src/test/java/org/wpilib/driverstation/JoystickTest.java Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.simulation.JoystickSim;
import org.junit.jupiter.api.Test;
class JoystickTest {
@Test
void testGetX() {
HAL.initialize(500, 0);
Joystick joy = new Joystick(1);
JoystickSim joysim = new JoystickSim(joy);
joysim.setX(0.25);
joysim.notifyNewData();
assertEquals(0.25, joy.getX(), 0.001);
joysim.setX(0);
joysim.notifyNewData();
assertEquals(0.0, joy.getX(), 0.001);
}
@Test
void testGetY() {
HAL.initialize(500, 0);
Joystick joy = new Joystick(1);
JoystickSim joysim = new JoystickSim(joy);
joysim.setY(0.25);
joysim.notifyNewData();
assertEquals(0.25, joy.getY(), 0.001);
joysim.setY(0);
joysim.notifyNewData();
assertEquals(0.0, joy.getY(), 0.001);
}
@Test
void testGetZ() {
HAL.initialize(500, 0);
Joystick joy = new Joystick(1);
JoystickSim joysim = new JoystickSim(joy);
joysim.setZ(0.25);
joysim.notifyNewData();
assertEquals(0.25, joy.getZ(), 0.001);
joysim.setZ(0);
joysim.notifyNewData();
assertEquals(0.0, joy.getZ(), 0.001);
}
@Test
void testGetTwist() {
HAL.initialize(500, 0);
Joystick joy = new Joystick(1);
JoystickSim joysim = new JoystickSim(joy);
joysim.setTwist(0.25);
joysim.notifyNewData();
assertEquals(0.25, joy.getTwist(), 0.001);
joysim.setTwist(0);
joysim.notifyNewData();
assertEquals(0.0, joy.getTwist(), 0.001);
}
@Test
void testGetThrottle() {
HAL.initialize(500, 0);
Joystick joy = new Joystick(1);
JoystickSim joysim = new JoystickSim(joy);
joysim.setThrottle(0.25);
joysim.notifyNewData();
assertEquals(0.25, joy.getThrottle(), 0.001);
joysim.setThrottle(0);
joysim.notifyNewData();
assertEquals(0.0, joy.getThrottle(), 0.001);
}
@Test
void testGetTrigger() {
HAL.initialize(500, 0);
Joystick joy = new Joystick(1);
JoystickSim joysim = new JoystickSim(joy);
joysim.setTrigger(true);
joysim.notifyNewData();
assertTrue(joy.getTrigger());
joysim.setTrigger(false);
joysim.notifyNewData();
assertFalse(joy.getTrigger());
}
@Test
void testGetTop() {
HAL.initialize(500, 0);
Joystick joy = new Joystick(1);
JoystickSim joysim = new JoystickSim(joy);
joysim.setTop(true);
joysim.notifyNewData();
assertTrue(joy.getTop());
joysim.setTop(false);
joysim.notifyNewData();
assertFalse(joy.getTop());
}
@Test
void testGetMagnitude() {
HAL.initialize(500, 0);
Joystick joy = new Joystick(1);
JoystickSim joysim = new JoystickSim(joy);
// X Only
joysim.setX(0.5);
joysim.setY(0.0);
joysim.notifyNewData();
assertEquals(0.5, joy.getMagnitude(), 0.001);
// Y Only
joysim.setX(0.0);
joysim.setY(-0.5);
joysim.notifyNewData();
assertEquals(0.5, joy.getMagnitude(), 0.001);
// Both
joysim.setX(0.5);
joysim.setY(-0.5);
joysim.notifyNewData();
assertEquals(0.70710678118, joy.getMagnitude(), 0.001);
}
@Test
void testGetDirection() {
HAL.initialize(500, 0);
Joystick joy = new Joystick(1);
JoystickSim joysim = new JoystickSim(joy);
// X Only
joysim.setX(0.5);
joysim.setY(0.0);
joysim.notifyNewData();
assertEquals(90, joy.getDirectionDegrees(), 0.001);
assertEquals(Math.toRadians(90), joy.getDirectionRadians(), 0.001);
// Y Only
joysim.setX(0.0);
joysim.setY(-0.5);
joysim.notifyNewData();
assertEquals(0, joy.getDirectionDegrees(), 0.001);
assertEquals(Math.toRadians(0), joy.getDirectionRadians(), 0.001);
// Both
joysim.setX(0.5);
joysim.setY(-0.5);
joysim.notifyNewData();
assertEquals(45, joy.getDirectionDegrees(), 0.001);
assertEquals(Math.toRadians(45), joy.getDirectionRadians(), 0.001);
}
}