fixed tests

added f in VelocityPIDController constructors to resolve errors
added test to PIDSourceAverageTest to make sure it actually returns the
average

Author: lhmcgann

Robot2018/test/org/usfirst/frc/team199/Robot2018/PIDSourceAverageTest.java

@@ -56,4 +56,33 @@ void test2() {
 		assertEquals(avg.getPIDSourceType(), PIDSourceType.kRate);
 	}
 
+	@Test
+	void test3() {
+
+		PIDSource lEnc = mock(PIDSource.class);
+		when(lEnc.getPIDSourceType()).thenReturn(PIDSourceType.kDisplacement);
+
+		PIDSource rEnc = mock(PIDSource.class);
+		when(rEnc.getPIDSourceType()).thenReturn(PIDSourceType.kDisplacement);
+
+		PIDSourceAverage avg;
+		try {
+			avg = new PIDSourceAverage(lEnc, rEnc);
+		} catch (IllegalArgumentException e) {
+			avg = new PIDSourceAverage(rEnc, rEnc);
+		}
+		assertEquals(avg.getPIDSourceType(), PIDSourceType.kDisplacement);
+
+		double leftVal = 2.0;
+		double rightVal = 3.0;
+		double avgVal = (leftVal + rightVal) / 2;
+
+		assertEquals(avgVal, 2.5);
+
+		when(lEnc.pidGet()).thenReturn(leftVal);
+		when(rEnc.pidGet()).thenReturn(rightVal);
+
+		assertEquals(avg.pidGet(), avgVal);
+	}
+
 }

Robot2018/test/org/usfirst/frc/team199/Robot2018/VelocityPIDControllerTest.java

@@ -36,7 +36,8 @@ void test1() {
 		double p = 1;
 		double i = 0.5;
 		double d = 0.0037;
-		VelocityPIDController vPID = new VelocityPIDController(p, i, d, source, out);
+		double f = 1.0 / 17;
+		VelocityPIDController vPID = new VelocityPIDController(p, i, d, f, source, out);
 
 		vPID.set(20);
 		assertEquals(vPID.get(), 20);
@@ -49,7 +50,8 @@ void test2() {
 		double p = 1;
 		double i = 0.5;
 		double d = 0.0037;
-		VelocityPIDController vPID = new VelocityPIDController(p, i, d, source, out);
+		double f = 1.0 / 17;
+		VelocityPIDController vPID = new VelocityPIDController(p, i, d, f, source, out);
 
 		vPID.pidWrite(20);
 		assertEquals(vPID.getSetpoint(), 20);
@@ -62,7 +64,8 @@ void test3() {
 		double p = 1;
 		double i = 0.5;
 		double d = 0.0037;
-		VelocityPIDController vPID = new VelocityPIDController(p, i, d, source, out);
+		double f = 1.0 / 17;
+		VelocityPIDController vPID = new VelocityPIDController(p, i, d, f, source, out);
 
 		vPID.set(20);
 		assertEquals(vPID.getSetpoint(), 20);