Fix unit tests

lasarobotics · Jan 12, 2024 · 5773834 · 5773834
1 parent c10c4ba
commit 5773834
Showing 1 changed file with 36 additions and 36 deletions.
diff --git a/src/test/java/frc/robot/subsystems/DriveSubsystemTest.java b/src/test/java/frc/robot/subsystems/DriveSubsystemTest.java
@@ -161,12 +161,12 @@ public void forward() {
 
     // Verify that motors are being driven with expected values
     verify(m_lFrontDriveMotor, times(1)).set(AdditionalMatchers.eq(+m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
-    verify(m_lFrontRotateMotor, times(1)).set(AdditionalMatchers.eq(-Math.PI / 2, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
-    verify(m_rFrontDriveMotor, times(1)).set(AdditionalMatchers.eq(+m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_lFrontRotateMotor, times(1)).set(AdditionalMatchers.eq(+Math.PI / 2, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
+    verify(m_rFrontDriveMotor, times(1)).set(AdditionalMatchers.eq(-m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_rFrontRotateMotor, times(1)).set(AdditionalMatchers.eq(0.0, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
-    verify(m_lRearDriveMotor, times(1)).set(AdditionalMatchers.eq(-m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_lRearDriveMotor, times(1)).set(AdditionalMatchers.eq(+m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_lRearRotateMotor, times(1)).set(AdditionalMatchers.eq(0.0, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
-    verify(m_rRearDriveMotor, times(1)).set(AdditionalMatchers.eq(+m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_rRearDriveMotor, times(1)).set(AdditionalMatchers.eq(-m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_rRearRotateMotor, times(1)).set(AdditionalMatchers.eq(+Math.PI / 2, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
   }
 
@@ -184,13 +184,13 @@ public void reverse() {
     m_driveSubsystem.driveCommand(() -> -1.0, () -> 0.0, () -> 0.0).execute();
 
     // Verify that motors are being driven with expected values
-    verify(m_lFrontDriveMotor, times(1)).set(AdditionalMatchers.eq(+m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_lFrontDriveMotor, times(1)).set(AdditionalMatchers.eq(-m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_lFrontRotateMotor, times(1)).set(AdditionalMatchers.eq(+Math.PI / 2, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
-    verify(m_rFrontDriveMotor, times(1)).set(AdditionalMatchers.eq(-m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_rFrontDriveMotor, times(1)).set(AdditionalMatchers.eq(+m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_rFrontRotateMotor, times(1)).set(AdditionalMatchers.eq(0.0, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
-    verify(m_lRearDriveMotor, times(1)).set(AdditionalMatchers.eq(+m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_lRearDriveMotor, times(1)).set(AdditionalMatchers.eq(-m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_lRearRotateMotor, times(1)).set(AdditionalMatchers.eq(0.0, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
-    verify(m_rRearDriveMotor, times(1)).set(AdditionalMatchers.eq(-m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_rRearDriveMotor, times(1)).set(AdditionalMatchers.eq(+m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_rRearRotateMotor, times(1)).set(AdditionalMatchers.eq(+Math.PI / 2, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
   }
 
@@ -208,13 +208,13 @@ public void strafeLeft() {
     m_driveSubsystem.driveCommand(() -> 0.0, () -> +1.0, () -> 0.0).execute();
 
     // Verify motors are being driven with expected values
-    verify(m_lFrontDriveMotor, times(1)).set(AdditionalMatchers.eq(+m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_lFrontDriveMotor, times(1)).set(AdditionalMatchers.eq(-m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_lFrontRotateMotor, times(1)).set(AdditionalMatchers.eq(0.0, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
-    verify(m_rFrontDriveMotor, times(1)).set(AdditionalMatchers.eq(+m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_rFrontDriveMotor, times(1)).set(AdditionalMatchers.eq(-m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_rFrontRotateMotor, times(1)).set(AdditionalMatchers.eq(+Math.PI / 2, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
-    verify(m_lRearDriveMotor, times(1)).set(AdditionalMatchers.eq(-m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_lRearDriveMotor, times(1)).set(AdditionalMatchers.eq(+m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_lRearRotateMotor, times(1)).set(AdditionalMatchers.eq(+Math.PI / 2, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
-    verify(m_rRearDriveMotor, times(1)).set(AdditionalMatchers.eq(-m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_rRearDriveMotor, times(1)).set(AdditionalMatchers.eq(+m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_rRearRotateMotor, times(1)).set(AdditionalMatchers.eq(0.0, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
   }
 
@@ -232,13 +232,13 @@ public void strafeRight() {
     m_driveSubsystem.driveCommand(() -> 0.0, () -> -1.0, () -> 0.0).execute();
 
     // Verify that motors are being driven with expected values
-    verify(m_lFrontDriveMotor, times(1)).set(AdditionalMatchers.eq(-m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_lFrontDriveMotor, times(1)).set(AdditionalMatchers.eq(+m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_lFrontRotateMotor, times(1)).set(AdditionalMatchers.eq(0.0, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
-    verify(m_rFrontDriveMotor, times(1)).set(AdditionalMatchers.eq(+m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_rFrontDriveMotor, times(1)).set(AdditionalMatchers.eq(-m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_rFrontRotateMotor, times(1)).set(AdditionalMatchers.eq(-Math.PI / 2, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
     verify(m_lRearDriveMotor, times(1)).set(AdditionalMatchers.eq(+m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
-    verify(m_lRearRotateMotor, times(1)).set(AdditionalMatchers.eq(+Math.PI / 2, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
-    verify(m_rRearDriveMotor, times(1)).set(AdditionalMatchers.eq(+m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_lRearRotateMotor, times(1)).set(AdditionalMatchers.eq(-Math.PI / 2, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
+    verify(m_rRearDriveMotor, times(1)).set(AdditionalMatchers.eq(-m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_rRearRotateMotor, times(1)).set(AdditionalMatchers.eq(0.0, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
   }
 
@@ -256,13 +256,13 @@ public void rotateLeft() {
     m_driveSubsystem.driveCommand(() -> 0.0, () -> 0.0, () -> +1.0).execute();
 
     // Verify that motors are being driven with expected values
-    verify(m_lFrontDriveMotor, times(1)).set(AdditionalMatchers.gt(0.0), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_lFrontDriveMotor, times(1)).set(AdditionalMatchers.lt(0.0), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_lFrontRotateMotor, times(1)).set(AdditionalMatchers.eq(+Math.PI / 4, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
-    verify(m_rFrontDriveMotor, times(1)).set(AdditionalMatchers.gt(0.0), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_rFrontDriveMotor, times(1)).set(AdditionalMatchers.lt(0.0), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_rFrontRotateMotor, times(1)).set(AdditionalMatchers.eq(+Math.PI / 4, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
-    verify(m_lRearDriveMotor, times(1)).set(AdditionalMatchers.gt(0.0), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_lRearDriveMotor, times(1)).set(AdditionalMatchers.lt(0.0), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_lRearRotateMotor, times(1)).set(AdditionalMatchers.eq(+Math.PI / 4, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
-    verify(m_rRearDriveMotor, times(1)).set(AdditionalMatchers.gt(0.0), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_rRearDriveMotor, times(1)).set(AdditionalMatchers.lt(0.0), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_rRearRotateMotor, times(1)).set(AdditionalMatchers.eq(+Math.PI / 4, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
   }
 
@@ -280,13 +280,13 @@ public void rotateRight() {
     m_driveSubsystem.driveCommand(() -> 0.0, () -> 0.0, () -> -1.0).execute();;
 
     // Verify that motors are being driven with expected values
-    verify(m_lFrontDriveMotor, times(1)).set(AdditionalMatchers.lt(0.0), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_lFrontDriveMotor, times(1)).set(AdditionalMatchers.gt(0.0), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_lFrontRotateMotor, times(1)).set(AdditionalMatchers.eq(+Math.PI / 4, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
-    verify(m_rFrontDriveMotor, times(1)).set(AdditionalMatchers.lt(0.0), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_rFrontDriveMotor, times(1)).set(AdditionalMatchers.gt(0.0), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_rFrontRotateMotor, times(1)).set(AdditionalMatchers.eq(+Math.PI / 4, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
-    verify(m_lRearDriveMotor, times(1)).set(AdditionalMatchers.lt(0.0), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_lRearDriveMotor, times(1)).set(AdditionalMatchers.gt(0.0), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_lRearRotateMotor, times(1)).set(AdditionalMatchers.eq(+Math.PI / 4, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
-    verify(m_rRearDriveMotor, times(1)).set(AdditionalMatchers.lt(0.0), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_rRearDriveMotor, times(1)).set(AdditionalMatchers.gt(0.0), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_rRearRotateMotor, times(1)).set(AdditionalMatchers.eq(+Math.PI / 4, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
   }
 
@@ -340,13 +340,13 @@ public void maintainOrientation() {
     m_driveSubsystem.driveCommand(() -> 0.0, () -> 0.0, () -> 0.0).execute();
 
     // Verify that motors are being driven with expected values
-    verify(m_lFrontDriveMotor, times(1)).set(AdditionalMatchers.lt(0.0), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_lFrontDriveMotor, times(1)).set(AdditionalMatchers.gt(0.0), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_lFrontRotateMotor, times(1)).set(AdditionalMatchers.eq(+Math.PI / 4, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
-    verify(m_rFrontDriveMotor, times(1)).set(AdditionalMatchers.lt(0.0), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_rFrontDriveMotor, times(1)).set(AdditionalMatchers.gt(0.0), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_rFrontRotateMotor, times(1)).set(AdditionalMatchers.eq(+Math.PI / 4, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
-    verify(m_lRearDriveMotor, times(1)).set(AdditionalMatchers.lt(0.0), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_lRearDriveMotor, times(1)).set(AdditionalMatchers.gt(0.0), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_lRearRotateMotor, times(1)).set(AdditionalMatchers.eq(+Math.PI / 4, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
-    verify(m_rRearDriveMotor, times(1)).set(AdditionalMatchers.lt(0.0), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_rRearDriveMotor, times(1)).set(AdditionalMatchers.gt(0.0), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_rRearRotateMotor, times(1)).set(AdditionalMatchers.eq(+Math.PI / 4, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
   }
 
@@ -369,12 +369,12 @@ public void tractionControl() {
 
     // Verify that motors are being driven with expected values
     verify(m_lFrontDriveMotor, times(1)).set(AdditionalMatchers.eq(+0.28, DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
-    verify(m_lFrontRotateMotor, times(1)).set(AdditionalMatchers.eq(-Math.PI / 2, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
-    verify(m_rFrontDriveMotor, times(1)).set(AdditionalMatchers.eq(+0.28, DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_lFrontRotateMotor, times(1)).set(AdditionalMatchers.eq(+Math.PI / 2, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
+    verify(m_rFrontDriveMotor, times(1)).set(AdditionalMatchers.eq(-0.28, DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_rFrontRotateMotor, times(1)).set(AdditionalMatchers.eq(0.0, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
-    verify(m_lRearDriveMotor, times(1)).set(AdditionalMatchers.eq(-0.28, DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_lRearDriveMotor, times(1)).set(AdditionalMatchers.eq(+0.28, DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_lRearRotateMotor, times(1)).set(AdditionalMatchers.eq(0.0, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
-    verify(m_rRearDriveMotor, times(1)).set(AdditionalMatchers.eq(+0.28, DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_rRearDriveMotor, times(1)).set(AdditionalMatchers.eq(-0.28, DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_rRearRotateMotor, times(1)).set(AdditionalMatchers.eq(+Math.PI / 2, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
   }
 
@@ -397,12 +397,12 @@ public void disableTractionControl() {
 
     // Verify that motors are being driven with expected values
     verify(m_lFrontDriveMotor, times(1)).set(AdditionalMatchers.eq(+m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
-    verify(m_lFrontRotateMotor, times(1)).set(AdditionalMatchers.eq(-Math.PI / 2, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
-    verify(m_rFrontDriveMotor, times(1)).set(AdditionalMatchers.eq(+m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_lFrontRotateMotor, times(1)).set(AdditionalMatchers.eq(+Math.PI / 2, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
+    verify(m_rFrontDriveMotor, times(1)).set(AdditionalMatchers.eq(-m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_rFrontRotateMotor, times(1)).set(AdditionalMatchers.eq(0.0, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
-    verify(m_lRearDriveMotor, times(1)).set(AdditionalMatchers.eq(-m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_lRearDriveMotor, times(1)).set(AdditionalMatchers.eq(+m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_lRearRotateMotor, times(1)).set(AdditionalMatchers.eq(0.0, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
-    verify(m_rRearDriveMotor, times(1)).set(AdditionalMatchers.eq(+m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
+    verify(m_rRearDriveMotor, times(1)).set(AdditionalMatchers.eq(-m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond), DELTA), ArgumentMatchers.eq(ControlType.kVelocity));
     verify(m_rRearRotateMotor, times(1)).set(AdditionalMatchers.eq(+Math.PI / 2, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
   }