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Commit 8ca27e3

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MysteryPigMysteryPig
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fix my horrible redunant code and Corvin's test
1 parent c307756 commit 8ca27e3

2 files changed

Lines changed: 56 additions & 89 deletions

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‎Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/AutoMoveTo.java‎

Lines changed: 1 addition & 30 deletions
Original file line numberDiff line numberDiff line change
@@ -50,35 +50,6 @@ public AutoMoveTo(String[] args, DrivetrainInterface dt, SmartDashboardInterface
5050
}
5151

5252
public AutoMoveTo(String[] args) {
53-
// requires(Drivetrain);
54-
double rotation;
55-
double[] point = { 0, 0 };
56-
for (String arg : args) {
57-
if (AutoUtils.isDouble(arg)) {
58-
rotation = Double.valueOf(arg);
59-
double relrotation = rotation - AutoUtils.position.getRot();
60-
addSequential(new PIDTurn(relrotation, Robot.dt, Robot.sd, Robot.dt.getDistEncAvg()));
61-
AutoUtils.position.setRot(rotation);
62-
} else if (AutoUtils.isPoint(arg)) {
63-
point = AutoUtils.parsePoint(arg);
64-
double deltaX = point[0] - AutoUtils.position.getX();
65-
double deltaY = point[1] - AutoUtils.position.getY();
66-
double atan = Math.toDegrees(Math.atan(deltaX / deltaY));
67-
double relrotation = atan - AutoUtils.position.getRot();
68-
addSequential(new PIDTurn(relrotation, Robot.dt, Robot.sd, Robot.dt.getDistEncAvg()));
69-
70-
double dX2 = deltaX * deltaX;
71-
double dY2 = deltaY * deltaY;
72-
double distance = Math.sqrt(dX2 + dY2);
73-
addSequential(new PIDMove(distance, Robot.dt, Robot.sd, Robot.dt.getDistEncAvg()));
74-
double x = AutoUtils.position.getX();
75-
double y = AutoUtils.position.getY();
76-
AutoUtils.position.setX(point[0]);
77-
AutoUtils.position.setY(point[1]);
78-
AutoUtils.position.setRot(Math.toDegrees(Math.atan((point[0] - x) / (point[1] - y))));
79-
} else {
80-
throw new IllegalArgumentException();
81-
}
82-
}
53+
this(args, Robot.dt, Robot.sd, Robot.dt.getDistEncAvg());
8354
}
8455
}

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

Lines changed: 55 additions & 59 deletions
Original file line numberDiff line numberDiff line change
@@ -1,40 +1,30 @@
11
package org.usfirst.frc.team199.Robot2018;
22

3-
import static org.junit.jupiter.api.Assertions.*;
3+
import static org.junit.jupiter.api.Assertions.assertEquals;
4+
import static org.junit.jupiter.api.Assertions.assertNotNull;
5+
import static org.mockito.Mockito.mock;
6+
import static org.mockito.Mockito.when;
47

58
import org.junit.jupiter.api.BeforeEach;
69
import org.junit.jupiter.api.Test;
10+
import org.usfirst.frc.team199.Robot2018.autonomous.AutoUtils;
11+
import org.usfirst.frc.team199.Robot2018.commands.AutoMoveTo;
12+
import org.usfirst.frc.team199.Robot2018.subsystems.DrivetrainInterface;
713

8-
import static org.mockito.Mockito.*;
9-
10-
import edu.wpi.first.wpilibj.command.Command;
11-
import edu.wpi.first.wpilibj.command.CommandGroup;
12-
import edu.wpi.first.wpilibj.command.Subsystem;
13-
import edu.wpi.first.wpilibj.internal.HardwareTimer;
1414
import edu.wpi.first.wpilibj.HLUsageReporting;
1515
import edu.wpi.first.wpilibj.PIDController;
16+
import edu.wpi.first.wpilibj.PIDOutput;
1617
import edu.wpi.first.wpilibj.PIDSource;
1718
import edu.wpi.first.wpilibj.PIDSourceType;
1819
import edu.wpi.first.wpilibj.Timer;
19-
import edu.wpi.first.wpilibj.PIDOutput;
20-
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
21-
22-
import com.kauailabs.navx.frc.AHRS;
23-
24-
import org.usfirst.frc.team199.Robot2018.commands.Autonomous;
25-
import org.usfirst.frc.team199.Robot2018.commands.TeleopDrive;
26-
import org.usfirst.frc.team199.Robot2018.commands.Autonomous.Position;
27-
import org.usfirst.frc.team199.Robot2018.commands.Autonomous.Strategy;
28-
import org.usfirst.frc.team199.Robot2018.subsystems.DrivetrainInterface;
29-
import org.usfirst.frc.team199.Robot2018.autonomous.AutoUtils;
30-
import org.usfirst.frc.team199.Robot2018.commands.AutoMoveTo;
31-
32-
import java.util.HashMap;
33-
import java.util.Map;
20+
import edu.wpi.first.wpilibj.command.Command;
21+
import edu.wpi.first.wpilibj.command.CommandGroup;
22+
import edu.wpi.first.wpilibj.command.Subsystem;
23+
import edu.wpi.first.wpilibj.internal.HardwareTimer;
3424

3525
class AutoMoveToTest {
3626

37-
// May need a BeforeEach to reset AutoUtils.
27+
// May need a BeforeEach to reset AutoUtils
3828

3929
@BeforeEach
4030
void setUp() {
@@ -48,90 +38,96 @@ void setUp() {
4838
HLUsageReporting.Interface usageReporter = mock(HLUsageReporting.Interface.class);
4939
HLUsageReporting.SetImplementation(usageReporter);
5040
}
51-
41+
5242
@Test
5343
void testWPICommand() {
5444
Command command = new Command() {
55-
protected boolean isFinished() { return false; }
45+
protected boolean isFinished() {
46+
return false;
47+
}
5648
};
5749
assertNotNull(command);
5850
}
59-
51+
6052
@Test
6153
void testWPICommandGroup() {
6254
CommandGroup group = new CommandGroup();
6355
assertNotNull(group);
6456

6557
Command command = new Command() {
66-
protected boolean isFinished() { return false; }
58+
protected boolean isFinished() {
59+
return false;
60+
}
6761
};
6862
group.addSequential(command);
6963
}
70-
64+
7165
@Test
7266
void testPIDController() {
7367
PIDSource source = mock(PIDSource.class);
74-
PIDOutput output = mock(PIDOutput.class);
75-
68+
PIDOutput output = mock(PIDOutput.class);
69+
7670
PIDController ctrl = new PIDController(0, 0, 0, source, output);
7771
assertNotNull(ctrl);
7872
}
79-
80-
//@Test
73+
74+
// @Test
8175
// Problem instantiating Subsystem because of SendableBase using network tables.
8276
void testWPISubsystem() {
83-
//LiveWindow.setEnabled(false);
77+
// LiveWindow.setEnabled(false);
8478
Subsystem subsystem = new Subsystem() {
8579
protected void initDefaultCommand() {
8680
setDefaultCommand(new Command() {
87-
protected boolean isFinished() { return false; }
81+
protected boolean isFinished() {
82+
return false;
83+
}
8884
});
8985
}
9086
};
9187
assertNotNull(subsystem);
9288
}
93-
89+
9490
@Test
9591
void testForwardAndRight() {
96-
String[] args = {"(0,12)","(12,12)"};
97-
98-
AutoUtils.setRot(0);
99-
AutoUtils.setX(0);
100-
AutoUtils.setY(0);
101-
92+
String[] args = { "(0,12)", "(12,12)" };
93+
94+
AutoUtils.position.setRot(0);
95+
AutoUtils.position.setX(0);
96+
AutoUtils.position.setY(0);
97+
10298
PIDSource pidGyroSrc = mock(PIDSource.class);
10399
when(pidGyroSrc.getPIDSourceType()).thenReturn(PIDSourceType.kDisplacement);
104100
DrivetrainInterface dt = mock(DrivetrainInterface.class);
105-
when(dt.getGyro()).thenReturn(pidGyroSrc);
101+
when(dt.getGyro()).thenReturn(pidGyroSrc);
106102
SmartDashboardInterface sd = mock(SmartDashboardInterface.class);
107103
PIDSource pidMoveSrc = mock(PIDSource.class);
108-
104+
109105
AutoMoveTo testAMT = new AutoMoveTo(args, dt, sd, pidMoveSrc);
110-
111-
assertEquals(90, AutoUtils.getRot());
112-
assertEquals(12, AutoUtils.getX());
113-
assertEquals(12, AutoUtils.getY());
106+
107+
assertEquals(90, AutoUtils.position.getRot());
108+
assertEquals(12, AutoUtils.position.getX());
109+
assertEquals(12, AutoUtils.position.getY());
114110
}
115111

116112
@Test
117113
void testForward() {
118-
String[] args = {"(0,12)"};
119-
120-
AutoUtils.setRot(0);
121-
AutoUtils.setX(0);
122-
AutoUtils.setY(0);
123-
114+
String[] args = { "(0,12)" };
115+
116+
AutoUtils.position.setRot(0);
117+
AutoUtils.position.setX(0);
118+
AutoUtils.position.setY(0);
119+
124120
PIDSource pidGyroSrc = mock(PIDSource.class);
125121
when(pidGyroSrc.getPIDSourceType()).thenReturn(PIDSourceType.kDisplacement);
126122
DrivetrainInterface dt = mock(DrivetrainInterface.class);
127-
when(dt.getGyro()).thenReturn(pidGyroSrc);
123+
when(dt.getGyro()).thenReturn(pidGyroSrc);
128124
SmartDashboardInterface sd = mock(SmartDashboardInterface.class);
129125
PIDSource pidMoveSrc = mock(PIDSource.class);
130-
126+
131127
AutoMoveTo testAMT = new AutoMoveTo(args, dt, sd, pidMoveSrc);
132-
133-
assertEquals(0, AutoUtils.getRot());
134-
assertEquals(0, AutoUtils.getX());
135-
assertEquals(12, AutoUtils.getY());
128+
129+
assertEquals(0, AutoUtils.position.getRot());
130+
assertEquals(0, AutoUtils.position.getX());
131+
assertEquals(12, AutoUtils.position.getY());
136132
}
137133
}

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