Merge pull request #40 from brettle/master

Add mocking necessary for VelocityPIDControllerTest to run off-robot

Author: lhmcgann

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

@@ -5,20 +5,33 @@
 import static org.mockito.Mockito.verify;
 import static org.mockito.Mockito.when;
 
+import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
 import org.usfirst.frc.team199.Robot2018.autonomous.VelocityPIDController;
 
+import edu.wpi.first.wpilibj.HLUsageReporting;
 import edu.wpi.first.wpilibj.PIDSource;
 import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.internal.HardwareTimer;
 
 class VelocityPIDControllerTest {
 
+	@BeforeEach
+	void setUp() {
+		// Since VelocityPIDController extends PIDController and PIDController calls
+		// static methods in wpilib that only work on robot,
+		// we setup these mocks to allow the tests to run off robot.
+		HardwareTimer tim = mock(HardwareTimer.class);
+		Timer.Interface timerInstance = mock(Timer.Interface.class);
+		when(tim.newTimer()).thenReturn(timerInstance);
+		Timer.SetImplementation(tim);
+		HLUsageReporting.Interface usageReporter = mock(HLUsageReporting.Interface.class);
+		HLUsageReporting.SetImplementation(usageReporter);
+	}
+
 	@Test
 	void test1() {
-		HardwareTimer tim = new HardwareTimer();
-		Timer.SetImplementation(tim);
 		PIDSource source = mock(PIDSource.class);
 		SpeedController out = mock(SpeedController.class);
 		double p = 1;