mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
Move drive integration tests into wpilibj/src/test (#1836)
Also move drive and controller tests into subfolders.
This commit is contained in:
Tyler Veness
committed by
Peter Johnson
Peter Johnson
parent
e716c36b89
commit
fa06403000
@@ -5,13 +5,11 @@
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj;
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package edu.wpi.first.wpilibj.controller;
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import org.junit.jupiter.api.BeforeEach;
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import org.junit.jupiter.api.Test;
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import edu.wpi.first.wpilibj.controller.PIDController;
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import static org.junit.jupiter.api.Assertions.assertAll;
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import static org.junit.jupiter.api.Assertions.assertEquals;
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import static org.junit.jupiter.api.Assertions.assertTrue;
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@@ -5,14 +5,12 @@
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj;
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package edu.wpi.first.wpilibj.controller;
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import org.junit.jupiter.api.AfterEach;
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import org.junit.jupiter.api.BeforeEach;
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import org.junit.jupiter.api.Test;
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import edu.wpi.first.wpilibj.controller.PIDController;
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import static org.junit.jupiter.api.Assertions.assertFalse;
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import static org.junit.jupiter.api.Assertions.assertTrue;
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170
wpilibj/src/test/java/edu/wpi/first/wpilibj/drive/DriveTest.java
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170
wpilibj/src/test/java/edu/wpi/first/wpilibj/drive/DriveTest.java
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@@ -0,0 +1,170 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj.drive;
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import org.junit.jupiter.api.BeforeEach;
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import org.junit.jupiter.api.Test;
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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 static org.junit.jupiter.api.Assertions.assertEquals;
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/**
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* Tests DifferentialDrive and MecanumDrive.
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*/
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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,
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-1.0};
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private final double[] m_testGyroValues = {0, 30, 45, 90, 135, 180, 225, 270, 305, 360, 540,
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-45, -90, -135, -180, -225, -270, -305, -360, -540};
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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(m_rdFrontLeft.get(), m_frontLeft.get(), 0.01,
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"Left Motor squared didn't match. Left Joystick: " + leftJoystick + " Right Joystick: "
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+ rightJoystick);
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assertEquals(m_rdFrontRight.get(), m_frontRight.get(), 0.01,
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"Right Motor squared didn't match. Left Joystick: " + leftJoystick + " 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(m_rdFrontLeft.get(), m_frontLeft.get(), 0.01,
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"Left Motor didn't match. Left Joystick: " + leftJoystick + " Right Joystick: "
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+ rightJoystick);
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assertEquals(m_rdFrontRight.get(), m_frontRight.get(), 0.01,
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"Right Motor didn't match. Left Joystick: " + leftJoystick + " 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(m_rdFrontLeft.get(), m_frontLeft.get(), 0.01,
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"Left Motor squared didn't match. Move Joystick: " + moveJoystick + " Rotate Joystick: "
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+ rotateJoystick);
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assertEquals(m_rdFrontRight.get(), m_frontRight.get(), 0.01,
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"Right Motor squared didn't match. Move Joystick: " + moveJoystick
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+ " Rotate Joystick: " + 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(m_rdFrontLeft.get(), m_frontLeft.get(), 0.01,
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"Left Motor didn't match. Move Joystick: " + moveJoystick + " Rotate Joystick: "
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+ rotateJoystick);
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assertEquals(m_rdFrontRight.get(), m_frontRight.get(), 0.01,
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"Right Motor didn't match. Move Joystick: " + moveJoystick + " 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(m_rdFrontLeft.get(), m_frontLeft.get(), 0.01,
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"Left Front Motor didn't match. Magnitude Joystick: " + magnitudeJoystick
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+ " Direction Joystick: " + directionJoystick + " RotationJoystick: "
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+ rotationJoystick);
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assertEquals(m_rdFrontRight.get(), -m_frontRight.get(), 0.01,
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"Right Front Motor didn't match. Magnitude Joystick: " + magnitudeJoystick
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+ " Direction Joystick: " + directionJoystick + " RotationJoystick: "
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+ rotationJoystick);
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assertEquals(m_rdRearLeft.get(), m_rearLeft.get(), 0.01,
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"Left Rear Motor didn't match. Magnitude Joystick: " + magnitudeJoystick
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+ " Direction Joystick: " + directionJoystick + " RotationJoystick: "
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+ rotationJoystick);
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assertEquals(m_rdRearRight.get(), -m_rearRight.get(), 0.01,
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"Right Rear Motor didn't match. Magnitude Joystick: " + magnitudeJoystick
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+ " Direction Joystick: " + directionJoystick + " 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(x_Joystick, y_Joystick, rotationJoystick,
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gyroValue);
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m_mecanumDrive.driveCartesian(x_Joystick, -y_Joystick, rotationJoystick, -gyroValue);
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assertEquals(m_rdFrontLeft.get(), m_frontLeft.get(), 0.01,
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"Left Front Motor didn't match. X Joystick: " + x_Joystick + " Y Joystick: "
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+ y_Joystick + " RotationJoystick: " + rotationJoystick + " Gyro: " + gyroValue);
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assertEquals(m_rdFrontRight.get(), -m_frontRight.get(), 0.01,
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"Right Front Motor didn't match. X Joystick: " + x_Joystick + " Y Joystick: "
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+ y_Joystick + " RotationJoystick: " + rotationJoystick + " Gyro: " + gyroValue);
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assertEquals(m_rdRearLeft.get(), m_rearLeft.get(), 0.01,
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"Left Rear Motor didn't match. X Joystick: " + x_Joystick + " Y Joystick: "
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+ y_Joystick + " RotationJoystick: " + rotationJoystick + " Gyro: " + gyroValue);
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assertEquals(m_rdRearRight.get(), -m_rearRight.get(), 0.01,
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"Right Rear Motor didn't match. X Joystick: " + x_Joystick + " Y Joystick: "
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+ y_Joystick + " RotationJoystick: " + rotationJoystick + " Gyro: " + 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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