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jack is not cool
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1 @@ | ||
| [] |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,92 @@ | ||
| { | ||
| "keyboardJoysticks": [ | ||
| { | ||
| "axisConfig": [ | ||
| { | ||
| "decKey": 65, | ||
| "incKey": 68 | ||
| }, | ||
| { | ||
| "decKey": 87, | ||
| "incKey": 83 | ||
| }, | ||
| { | ||
| "decKey": 69, | ||
| "decayRate": 0.0, | ||
| "incKey": 82, | ||
| "keyRate": 0.009999999776482582 | ||
| } | ||
| ], | ||
| "axisCount": 3, | ||
| "buttonCount": 4, | ||
| "buttonKeys": [ | ||
| 90, | ||
| 88, | ||
| 67, | ||
| 86 | ||
| ], | ||
| "povConfig": [ | ||
| { | ||
| "key0": 328, | ||
| "key135": 323, | ||
| "key180": 322, | ||
| "key225": 321, | ||
| "key270": 324, | ||
| "key315": 327, | ||
| "key45": 329, | ||
| "key90": 326 | ||
| } | ||
| ], | ||
| "povCount": 1 | ||
| }, | ||
| { | ||
| "axisConfig": [ | ||
| { | ||
| "decKey": 74, | ||
| "incKey": 76 | ||
| }, | ||
| { | ||
| "decKey": 73, | ||
| "incKey": 75 | ||
| } | ||
| ], | ||
| "axisCount": 2, | ||
| "buttonCount": 4, | ||
| "buttonKeys": [ | ||
| 77, | ||
| 44, | ||
| 46, | ||
| 47 | ||
| ], | ||
| "povCount": 0 | ||
| }, | ||
| { | ||
| "axisConfig": [ | ||
| { | ||
| "decKey": 263, | ||
| "incKey": 262 | ||
| }, | ||
| { | ||
| "decKey": 265, | ||
| "incKey": 264 | ||
| } | ||
| ], | ||
| "axisCount": 2, | ||
| "buttonCount": 6, | ||
| "buttonKeys": [ | ||
| 260, | ||
| 268, | ||
| 266, | ||
| 261, | ||
| 269, | ||
| 267 | ||
| ], | ||
| "povCount": 0 | ||
| }, | ||
| { | ||
| "axisCount": 0, | ||
| "buttonCount": 0, | ||
| "povCount": 0 | ||
| } | ||
| ] | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,10 @@ | ||
| { | ||
| "NTProvider": { | ||
| "types": { | ||
| "/FMSInfo": "FMSInfo" | ||
| } | ||
| }, | ||
| "NetworkTables Info": { | ||
| "visible": true | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,83 @@ | ||
| import static org.junit.jupiter.api.Assertions.*; | ||
| import static org.mockito.ArgumentMatchers.any; | ||
| import static org.mockito.ArgumentMatchers.eq; | ||
| import static org.mockito.Mockito.*; | ||
|
|
||
| import edu.wpi.first.math.geometry.Pose2d; | ||
| import edu.wpi.first.math.geometry.Rotation2d; | ||
| import edu.wpi.first.math.kinematics.ChassisSpeeds; | ||
| import edu.wpi.first.math.kinematics.SwerveDriveKinematics; | ||
| import edu.wpi.first.math.kinematics.SwerveModuleState; | ||
| import frc.robot.subsystems.swerve.*; | ||
| import frc.robot.subsystems.swerve.gyroIO.GyroInterface; | ||
| import frc.robot.subsystems.swerve.moduleIO.ModuleInterface; | ||
| import frc.robot.subsystems.swerve.odometryThread.OdometryThread; | ||
| import org.junit.jupiter.api.BeforeEach; | ||
| import org.junit.jupiter.api.Test; | ||
| import org.mockito.Mock; | ||
| import org.mockito.MockitoAnnotations; | ||
|
|
||
| class SwerveDriveTest { | ||
|
|
||
| @Mock private GyroInterface gyroIO; | ||
|
|
||
| @Mock | ||
| private ModuleInterface frontLeftModuleIO, | ||
| frontRightModuleIO, | ||
| backLeftModuleIO, | ||
| backRightModuleIO; | ||
| @Mock private SwerveModule frontLeftModule, frontRightModule, backLeftModule, backRightModule; | ||
|
|
||
| @Mock private OdometryThread mockOdometryThread; | ||
|
|
||
| @Mock private SwerveDriveKinematics swerveDriveKinematics; | ||
|
|
||
| private SwerveDrive swerveDrive; | ||
|
|
||
| @BeforeEach | ||
| void setUp() { | ||
| // Initialize the mocks | ||
| MockitoAnnotations.openMocks(this); | ||
|
|
||
| swerveDrive = | ||
| spy( | ||
| new SwerveDrive( | ||
| gyroIO, | ||
| frontLeftModuleIO, | ||
| frontRightModuleIO, | ||
| backLeftModuleIO, | ||
| backRightModuleIO)); | ||
|
|
||
| swerveDrive.setKinematics(swerveDriveKinematics); | ||
| } | ||
|
|
||
| @Test | ||
| void testDrive() { | ||
| // Prepare mock module states | ||
| SwerveModuleState[] mockStates = new SwerveModuleState[4]; | ||
| for (int i = 0; i < 4; i++) { | ||
| mockStates[i] = mock(SwerveModuleState.class); // Mock each SwerveModuleState | ||
| } | ||
|
|
||
| // Mock the toSwerveModuleStates method to return mock states | ||
| when(swerveDriveKinematics.toSwerveModuleStates(any(ChassisSpeeds.class))) | ||
| .thenReturn(mockStates); | ||
|
|
||
| // Now when the drive method calls toSwerveModuleStates, it will return mockStates | ||
| swerveDrive.drive(1.0, 1.0, 0.5, true); | ||
|
|
||
| // Verify that setModuleStates was called with mockStates | ||
| verify(swerveDrive).setModuleStates(mockStates); | ||
| verify(swerveDrive.getKinematics()).toSwerveModuleStates(any(ChassisSpeeds.class)); | ||
| } | ||
|
|
||
| @Test | ||
| void testSetPose() { | ||
| // Mock pose setter | ||
| Pose2d newPose = new Pose2d(3.0, 4.0, Rotation2d.fromDegrees(90)); | ||
| swerveDrive.setPose(newPose); | ||
|
|
||
| // Verify that the setPose method was called with the new pose | ||
| verify(swerveDrive).setPose(eq(newPose)); | ||
| } | ||
| } |
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