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started writing unit tests #10

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f0039f3
not done
kristen-33 Jan 20, 2025
c6a7307
started
kristen-33 Jan 22, 2025
149f856
changes
kristen-33 Jan 22, 2025
26e07e6
maybe done
kristen-33 Jan 22, 2025
49a6c6c
hopefully done
kristen-33 Jan 22, 2025
0c2d7a0
fix build issues
caitlincai Jan 23, 2025
9cab76d
trying to fix build issues:
caitlincai Jan 23, 2025
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6 changes: 6 additions & 0 deletions .wpilib/wpilib_preferences.json
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{
"currentLanguage": "none",
"enableCppIntellisense": false,
"projectYear": "none",
"teamNumber": 1868
}
2 changes: 1 addition & 1 deletion src/test/java/tagalong/subsystems/micro/ElevatorConfigurationTests.java
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package tagalong.subsystems.micro;

public class ElevatorConfigurationTests {}
public class ElevatorConfigurationTests {}
60 changes: 60 additions & 0 deletions src/test/java/tagalong/subsystems/micro/ElevatorUnitTests.java
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package tagalong.subsystems.micro;
import static org.junit.jupiter.api.Assertions.*;

import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
import tagalong.devices.Encoders;
import tagalong.devices.Motors;
import tagalong.measurements.Height;
import tagalong.subsystems.micro.Elevator;
import tagalong.subsystems.micro.confs.ElevatorConf;

public class ElevatorUnitTests {
public double kTol = 2e-1; // stub
static final double kCANCoderDelayTime = 0.5; // stub
public ElevatorConf _elevatorConf;
public Elevator _elevator;
private final double _heightTolerance = 1.0; // stub
private final double _velocityTolerance = 1.0; // stub

@BeforeEach
void setup() {
_elevator = new Elevator(_elevatorConf);
}

@AfterEach
void shutdown() throws Exception {
_elevator.setBrakeMode(true);
}

@Test
public void testHeight(Elevator elevator, double height) {
elevator.setElevatorHeight(height);
assertEquals(_heightTolerance, Math.abs(height - elevator.getElevatorHeightM()));
}
@Test
public void testVelocity(Elevator elevator, double velocity, boolean withFF) {
elevator.setElevatorVelocity(velocity, withFF);
assertEquals(
_velocityTolerance, Math.abs(Math.abs(velocity - elevator.getElevatorVelocityMPS()))
);
}
@Test
public void testProfile(Elevator elevator, double height) {
elevator.setElevatorProfile(height);
assertEquals(_heightTolerance, Math.abs(elevator.getElevatorHeightM()) - height);
}
@Test
public void testProfileComplex(
Elevator elevator,
double height,
double goalVelocityMPS,
double maxVelocityMPS,
double maxAccelerationMPS2,
boolean setCurrentState
) {
elevator.setElevatorProfile(height, goalVelocityMPS, maxVelocityMPS, maxAccelerationMPS2, true);
assertEquals(_heightTolerance, Math.abs(height - elevator.getElevatorHeightM()));
}
}
1 change: 0 additions & 1 deletion src/test/java/tagalong/subsystems/micro/MicrosystemConfigurationTest.java
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package tagalong.subsystems.micro;

import static org.junit.jupiter.api.Assertions.*;

import org.junit.jupiter.api.Test;
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101 changes: 101 additions & 0 deletions src/test/java/tagalong/subsystems/micro/PivotUnitTest.java
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package tagalong.subsystems.micro;
import static org.junit.jupiter.api.Assertions.*;

import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Transform2d;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.simulation.ElevatorSim;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import java.nio.file.attribute.GroupPrincipal;
import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
import tagalong.devices.Encoders;
import tagalong.devices.Motors;
import tagalong.measurements.Angle;
import tagalong.subsystems.micro.Pivot;
import tagalong.subsystems.micro.confs.PivotConf;

// are we testing the endocer for pivot or the reefarm pivot itself...

public class PivotUnitTest {
static final double kTol = 2e-1; // idk what these r for....
static final double kCANCoderDelayTime = 0.5; // same here
public Pivot _pivot;
public PivotConf _pivotConf;
public final double powerTolerance = 1.0; // CHANGE
public final double velocityTolerance = 1.0; // change
public final double angleToleranceRot = 1.0; // change

@BeforeEach
void setUp() {
_pivot = new Pivot(_pivotConf);
}

@AfterEach
void shutdown() throws Exception {
_pivot.setBrakeMode(true);
}

@Test
public void testPower(Pivot pivot, double power) {
pivot.setPivotPower(power);
assertEquals(powerTolerance, Math.abs(power - pivot.getPivotPower()));
}

@Test
public void testVelocity(Pivot pivot, double velocity) {
pivot.setPivotVelocity(velocity, false);
assertEquals(velocityTolerance, Math.abs(Math.abs(velocity - pivot.getPivotVelocity())));
}

@Test
public void testProfileAngle(Pivot pivot, Angle goalPositionRot) {
pivot.setPivotProfile(goalPositionRot);
assertEquals(
angleToleranceRot, Math.abs(pivot.getPivotPosition() - goalPositionRot.getRotations())
);
}

@Test
public void testProfileRot(Pivot pivot, double goalPositionRot) {
pivot.setPivotProfile(goalPositionRot);
assertEquals(angleToleranceRot, Math.abs(pivot.getPivotPosition() - goalPositionRot));
}

@Test
public void testProfileAngleComplex(
Pivot pivot,
Angle goalPositionRot,
double goalVelocityRPS,
double maxVelocityRPS,
double maxAccerlerationRPS2,
boolean setCurrentState
) {
pivot.setPivotProfile(
goalPositionRot, goalVelocityRPS, maxVelocityRPS, maxAccerlerationRPS2, setCurrentState
);
assertEquals(
angleToleranceRot, Math.abs(pivot.getPivotPosition() - goalPositionRot.getRotations())
);
}

@Test
public void testProfileRotComplex(
Pivot pivot,
double goalPositionRot,
double goalVelocityRPS,
double maxVelocityRPS,
double maxAccerlerationRPS2,
boolean setCurrentState
) {
pivot.setPivotProfile(
goalPositionRot, goalVelocityRPS, maxVelocityRPS, maxAccerlerationRPS2, setCurrentState
);
assertEquals(angleToleranceRot, Math.abs(pivot.getPivotPosition() - goalPositionRot));
}
}
96 changes: 96 additions & 0 deletions src/test/java/tagalong/subsystems/micro/RollerUnitTest.java
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package tagalong.subsystems.micro;
import static org.junit.jupiter.api.Assertions.*;

import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Transform2d;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.simulation.ElevatorSim;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import java.nio.file.attribute.GroupPrincipal;
import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
import tagalong.devices.Encoders;
import tagalong.devices.Motors;
import tagalong.measurements.Angle;
import tagalong.subsystems.micro.Roller;
import tagalong.subsystems.micro.confs.RollerConf;

public class RollerUnitTest {
static final double DELTA = 0.0;
public Roller _roller;
public RollerConf _rollerConf;

public final double powerTolerance = 1.0; // change
public final double velocityTolerance = 1.0; // change
public final double rotationTolerance = 1.0; // change
public final double angleToleranceRot = 1.0;

@BeforeEach
void setUp() {
_roller = new Roller(_rollerConf);
}

@AfterEach
void shutdown() throws Exception {
_roller.setBrakeMode(true); // need for rollers?
}

@Test
public void testPower(Roller roller, double power) {
roller.setRollerPower(power);
assertEquals(powerTolerance, Math.abs(roller.getRollerPower() - power));
}

@Test
public void testVelocity(Roller roller, double velocity) {
roller.setRollerVelocity(velocity, false); // change w/ FF?
assertEquals(velocityTolerance, Math.abs(roller.getRollerVelocity() - velocity));
}

@Test
public void testProfileRot(Roller roller, double goalPositionRot) {
roller.setRollerProfile(goalPositionRot);
assertEquals(rotationTolerance, Math.abs(roller.getRollerPosition()) - goalPositionRot);
}

@Test
public void testProfileAngle(Roller roller, Angle goalAngle) {
roller.setRollerProfile(goalAngle);
assertEquals(
angleToleranceRot, Math.abs(roller.getRollerPosition() - goalAngle.getRotations())
);
}

@Test
public void testProfileRotComplex(
Roller roller,
double goalPositionRot,
double goalVelocityMPS,
double maxVelocityMPS,
double maxAccelerationMPS2,
boolean setCurrentState
) {
roller.setRollerProfile(
goalPositionRot, goalVelocityMPS, maxVelocityMPS, maxAccelerationMPS2, true
);
assertEquals(rotationTolerance, Math.abs(goalPositionRot - roller.getRollerPosition()));
}
public void testProfileAngComplex(
Roller roller,
double goalPositionRot,
double goalVelocityMPS,
double maxVelocityMPS,
double maxAccelerationMPS2,
boolean setCurrentState
) {
roller.setRollerProfile(
goalPositionRot, goalVelocityMPS, maxVelocityMPS, maxAccelerationMPS2, true
);
assertEquals(rotationTolerance, Math.abs(goalPositionRot - roller.getRollerPosition()));
}
}
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