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[wpilib] Remove RobotDrive (#3295)
This has been deprecated for several years, and its functionality has been completely superseded by other drive classes (DifferentialDrive et al).
This commit is contained in:
Peter Johnson
@@ -1,265 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package edu.wpi.first.wpilibj.drive;
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import static org.junit.jupiter.api.Assertions.assertEquals;
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import edu.wpi.first.wpilibj.MockSpeedController;
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import edu.wpi.first.wpilibj.RobotDrive;
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import org.junit.jupiter.api.BeforeEach;
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import org.junit.jupiter.api.Test;
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/** Tests DifferentialDrive and MecanumDrive. */
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public class DriveTest {
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private final MockSpeedController m_rdFrontLeft = new MockSpeedController();
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private final MockSpeedController m_rdRearLeft = new MockSpeedController();
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private final MockSpeedController m_rdFrontRight = new MockSpeedController();
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private final MockSpeedController m_rdRearRight = new MockSpeedController();
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private final MockSpeedController m_frontLeft = new MockSpeedController();
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private final MockSpeedController m_rearLeft = new MockSpeedController();
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private final MockSpeedController m_frontRight = new MockSpeedController();
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private final MockSpeedController m_rearRight = new MockSpeedController();
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private final RobotDrive m_robotDrive =
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new RobotDrive(m_rdFrontLeft, m_rdRearLeft, m_rdFrontRight, m_rdRearRight);
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private final DifferentialDrive m_differentialDrive =
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new DifferentialDrive(m_frontLeft, m_frontRight);
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private final MecanumDrive m_mecanumDrive =
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new MecanumDrive(m_frontLeft, m_rearLeft, m_frontRight, m_rearRight);
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private final double[] m_testJoystickValues = {1.0, 0.9, 0.5, 0.01, 0.0, -0.01, -0.5, -0.9, -1.0};
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private final double[] m_testGyroValues = {
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0, 30, 45, 90, 135, 180, 225, 270, 305, 360, 540, -45, -90, -135, -180, -225, -270, -305, -360,
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-540
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};
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@BeforeEach
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void setUp() {
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m_differentialDrive.setDeadband(0.0);
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m_differentialDrive.setSafetyEnabled(false);
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m_mecanumDrive.setDeadband(0.0);
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m_mecanumDrive.setSafetyEnabled(false);
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m_robotDrive.setSafetyEnabled(false);
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}
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@Test
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public void testTankDriveSquared() {
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for (double leftJoystick : m_testJoystickValues) {
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for (double rightJoystick : m_testJoystickValues) {
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m_robotDrive.tankDrive(leftJoystick, rightJoystick);
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m_differentialDrive.tankDrive(leftJoystick, rightJoystick);
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assertEquals(
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m_rdFrontLeft.get(),
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m_frontLeft.get(),
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0.01,
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"Left Motor squared didn't match. Left Joystick: "
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+ leftJoystick
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+ " Right Joystick: "
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+ rightJoystick);
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assertEquals(
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m_rdFrontRight.get(),
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m_frontRight.get(),
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0.01,
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"Right Motor squared didn't match. Left Joystick: "
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+ leftJoystick
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+ " Right Joystick: "
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+ rightJoystick);
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}
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}
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}
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@Test
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void testTankDrive() {
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for (double leftJoystick : m_testJoystickValues) {
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for (double rightJoystick : m_testJoystickValues) {
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m_robotDrive.tankDrive(leftJoystick, rightJoystick, false);
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m_differentialDrive.tankDrive(leftJoystick, rightJoystick, false);
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assertEquals(
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m_rdFrontLeft.get(),
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m_frontLeft.get(),
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0.01,
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"Left Motor didn't match. Left Joystick: "
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+ leftJoystick
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+ " Right Joystick: "
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+ rightJoystick);
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assertEquals(
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m_rdFrontRight.get(),
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m_frontRight.get(),
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0.01,
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"Right Motor didn't match. Left Joystick: "
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+ leftJoystick
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+ " Right Joystick: "
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+ rightJoystick);
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}
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}
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}
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@Test
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void testArcadeDriveSquared() {
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for (double moveJoystick : m_testJoystickValues) {
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for (double rotateJoystick : m_testJoystickValues) {
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m_robotDrive.arcadeDrive(moveJoystick, rotateJoystick);
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m_differentialDrive.arcadeDrive(moveJoystick, -rotateJoystick);
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assertEquals(
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m_rdFrontLeft.get(),
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m_frontLeft.get(),
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0.01,
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"Left Motor squared didn't match. Move Joystick: "
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+ moveJoystick
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+ " Rotate Joystick: "
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+ rotateJoystick);
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assertEquals(
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m_rdFrontRight.get(),
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m_frontRight.get(),
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0.01,
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"Right Motor squared didn't match. Move Joystick: "
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+ moveJoystick
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+ " Rotate Joystick: "
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+ rotateJoystick);
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}
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}
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}
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@Test
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void testArcadeDrive() {
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for (double moveJoystick : m_testJoystickValues) {
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for (double rotateJoystick : m_testJoystickValues) {
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m_robotDrive.arcadeDrive(moveJoystick, rotateJoystick, false);
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m_differentialDrive.arcadeDrive(moveJoystick, -rotateJoystick, false);
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assertEquals(
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m_rdFrontLeft.get(),
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m_frontLeft.get(),
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0.01,
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"Left Motor didn't match. Move Joystick: "
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+ moveJoystick
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+ " Rotate Joystick: "
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+ rotateJoystick);
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assertEquals(
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m_rdFrontRight.get(),
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m_frontRight.get(),
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0.01,
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"Right Motor didn't match. Move Joystick: "
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+ moveJoystick
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+ " Rotate Joystick: "
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+ rotateJoystick);
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}
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}
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}
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@Test
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void testMecanumPolar() {
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for (double magnitudeJoystick : m_testJoystickValues) {
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for (double directionJoystick : m_testGyroValues) {
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for (double rotationJoystick : m_testJoystickValues) {
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m_robotDrive.mecanumDrive_Polar(magnitudeJoystick, directionJoystick, rotationJoystick);
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m_mecanumDrive.drivePolar(magnitudeJoystick, directionJoystick, rotationJoystick);
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assertEquals(
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m_rdFrontLeft.get(),
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m_frontLeft.get(),
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0.01,
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"Left Front Motor didn't match. Magnitude Joystick: "
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+ magnitudeJoystick
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+ " Direction Joystick: "
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+ directionJoystick
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+ " RotationJoystick: "
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+ rotationJoystick);
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assertEquals(
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m_rdFrontRight.get(),
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-m_frontRight.get(),
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0.01,
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"Right Front Motor didn't match. Magnitude Joystick: "
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+ magnitudeJoystick
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+ " Direction Joystick: "
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+ directionJoystick
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+ " RotationJoystick: "
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+ rotationJoystick);
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assertEquals(
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m_rdRearLeft.get(),
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m_rearLeft.get(),
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0.01,
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"Left Rear Motor didn't match. Magnitude Joystick: "
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+ magnitudeJoystick
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+ " Direction Joystick: "
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+ directionJoystick
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+ " RotationJoystick: "
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+ rotationJoystick);
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assertEquals(
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m_rdRearRight.get(),
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-m_rearRight.get(),
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0.01,
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"Right Rear Motor didn't match. Magnitude Joystick: "
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+ magnitudeJoystick
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+ " Direction Joystick: "
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+ directionJoystick
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+ " RotationJoystick: "
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+ rotationJoystick);
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}
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}
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}
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}
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@Test
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@SuppressWarnings("checkstyle:LocalVariableName")
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void testMecanumCartesian() {
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for (double x_Joystick : m_testJoystickValues) {
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for (double y_Joystick : m_testJoystickValues) {
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for (double rotationJoystick : m_testJoystickValues) {
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for (double gyroValue : m_testGyroValues) {
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m_robotDrive.mecanumDrive_Cartesian(
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x_Joystick, y_Joystick, rotationJoystick, gyroValue);
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m_mecanumDrive.driveCartesian(x_Joystick, -y_Joystick, rotationJoystick, -gyroValue);
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assertEquals(
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m_rdFrontLeft.get(),
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m_frontLeft.get(),
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0.01,
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"Left Front Motor didn't match. X Joystick: "
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+ x_Joystick
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+ " Y Joystick: "
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+ y_Joystick
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+ " RotationJoystick: "
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+ rotationJoystick
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+ " Gyro: "
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+ gyroValue);
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assertEquals(
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m_rdFrontRight.get(),
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-m_frontRight.get(),
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0.01,
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"Right Front Motor didn't match. X Joystick: "
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+ x_Joystick
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+ " Y Joystick: "
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+ y_Joystick
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+ " RotationJoystick: "
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+ rotationJoystick
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+ " Gyro: "
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+ gyroValue);
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assertEquals(
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m_rdRearLeft.get(),
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m_rearLeft.get(),
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0.01,
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"Left Rear Motor didn't match. X Joystick: "
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+ x_Joystick
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+ " Y Joystick: "
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+ y_Joystick
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+ " RotationJoystick: "
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+ rotationJoystick
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+ " Gyro: "
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+ gyroValue);
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assertEquals(
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m_rdRearRight.get(),
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-m_rearRight.get(),
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0.01,
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"Right Rear Motor didn't match. X Joystick: "
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+ x_Joystick
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+ " Y Joystick: "
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+ y_Joystick
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+ " RotationJoystick: "
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+ rotationJoystick
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+ " Gyro: "
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+ gyroValue);
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}
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}
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}
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}
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}
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}
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