Fix unit tests

lasarobotics · Aug 2, 2024 · 65dd13e · 65dd13e
1 parent edb1b2a
commit 65dd13e
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Showing 3 changed files with 11 additions and 8 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -57,10 +57,12 @@ public class RobotContainer {
     DRIVE_SUBSYSTEM::getPose,
     () -> speakerSupplier()
   );
+
   private static final IntakeSubsystem INTAKE_SUBSYSTEM = new IntakeSubsystem(
     IntakeSubsystem.initializeHardware(),
     Constants.Intake.ROLLER_VELOCITY
   );
+
   private static final VisionSubsystem VISION_SUBSYSTEM = VisionSubsystem.getInstance();
 
   private static final CommandXboxController PRIMARY_CONTROLLER = new CommandXboxController(Constants.HID.PRIMARY_CONTROLLER_PORT);

diff --git a/src/test/java/frc/robot/commands/AntiTipCommandTest.java b/src/test/java/frc/robot/commands/AntiTipCommandTest.java
@@ -41,6 +41,7 @@
 import edu.wpi.first.wpilibj.simulation.DriverStationSim;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.AbsoluteValueMatcher;
+import frc.robot.AngleMatcher;
 import frc.robot.Constants;
 import frc.robot.subsystems.drive.DriveSubsystem;
 
@@ -232,13 +233,13 @@ public void execute() {
 
     // Verify motors are being driven with expected values
     verify(m_lFrontDriveMotor, times(1)).set(doubleThat(m_matchLinearVelocity), ArgumentMatchers.eq(ControlType.kVelocity));
-    verify(m_lFrontRotateMotor, times(1)).set(doubleThat(new AbsoluteValueMatcher(Math.PI, DELTA)), ArgumentMatchers.eq(ControlType.kPosition));
+    verify(m_lFrontRotateMotor, times(1)).set(doubleThat(new AngleMatcher(AngleMatcher.Units.RADIANS, Math.PI, DELTA)), ArgumentMatchers.eq(ControlType.kPosition));
     verify(m_rFrontDriveMotor, times(1)).set(doubleThat(m_matchLinearVelocity), ArgumentMatchers.eq(ControlType.kVelocity));
-    verify(m_rFrontRotateMotor, times(1)).set(doubleThat(new AbsoluteValueMatcher(Math.PI / 2, DELTA)), ArgumentMatchers.eq(ControlType.kPosition));
+    verify(m_rFrontRotateMotor, times(1)).set(doubleThat(new AngleMatcher(AngleMatcher.Units.RADIANS, Math.PI / 2, DELTA)), ArgumentMatchers.eq(ControlType.kPosition));
     verify(m_lRearDriveMotor, times(1)).set(doubleThat(m_matchLinearVelocity), ArgumentMatchers.eq(ControlType.kVelocity));
-    verify(m_lRearRotateMotor, times(1)).set(doubleThat(new AbsoluteValueMatcher(Math.PI / 2, DELTA)), ArgumentMatchers.eq(ControlType.kPosition));
+    verify(m_lRearRotateMotor, times(1)).set(doubleThat(new AngleMatcher(AngleMatcher.Units.RADIANS, Math.PI / 2, DELTA)), ArgumentMatchers.eq(ControlType.kPosition));
     verify(m_rRearDriveMotor, times(1)).set(doubleThat(m_matchLinearVelocity), ArgumentMatchers.eq(ControlType.kVelocity));
-    verify(m_rRearRotateMotor, times(1)).set(doubleThat(new AbsoluteValueMatcher(0.0, DELTA)), ArgumentMatchers.eq(ControlType.kPosition));
+    verify(m_rRearRotateMotor, times(1)).set(doubleThat(new AngleMatcher(AngleMatcher.Units.RADIANS, 0.0, DELTA)), ArgumentMatchers.eq(ControlType.kPosition));
   }
 
   @Test

diff --git a/src/test/java/frc/robot/subsystems/DriveSubsystemTest.java b/src/test/java/frc/robot/subsystems/DriveSubsystemTest.java
@@ -452,13 +452,13 @@ public void tractionControl() {
 
     // Verify that motors are being driven with expected values
     verify(m_lFrontDriveMotor, times(1)).set(AdditionalMatchers.lt(m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond) / 2), ArgumentMatchers.eq(ControlType.kVelocity));
-    verify(m_lFrontRotateMotor, times(1)).set(AdditionalMatchers.eq(+Math.PI / 2, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
+    verify(m_lFrontRotateMotor, times(1)).set(doubleThat(new AngleMatcher(AngleMatcher.Units.RADIANS, Math.PI / 2, DELTA)), ArgumentMatchers.eq(ControlType.kPosition));
     verify(m_rFrontDriveMotor, times(1)).set(AdditionalMatchers.lt(m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond) / 2), ArgumentMatchers.eq(ControlType.kVelocity));
-    verify(m_rFrontRotateMotor, times(1)).set(AdditionalMatchers.eq(0.0, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
+    verify(m_rFrontRotateMotor, times(1)).set(doubleThat(new AngleMatcher(AngleMatcher.Units.RADIANS, 0.0, DELTA)), ArgumentMatchers.eq(ControlType.kPosition));
     verify(m_lRearDriveMotor, times(1)).set(AdditionalMatchers.lt(m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond) / 2), ArgumentMatchers.eq(ControlType.kVelocity));
-    verify(m_lRearRotateMotor, times(1)).set(AdditionalMatchers.eq(0.0, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
+    verify(m_lRearRotateMotor, times(1)).set(doubleThat(new AngleMatcher(AngleMatcher.Units.RADIANS, 0.0, DELTA)), ArgumentMatchers.eq(ControlType.kPosition));
     verify(m_rRearDriveMotor, times(1)).set(AdditionalMatchers.lt(m_driveSubsystem.DRIVE_MAX_LINEAR_SPEED.in(Units.MetersPerSecond) / 2), ArgumentMatchers.eq(ControlType.kVelocity));
-    verify(m_rRearRotateMotor, times(1)).set(AdditionalMatchers.eq(+Math.PI / 2, DELTA), ArgumentMatchers.eq(ControlType.kPosition));
+    verify(m_rRearRotateMotor, times(1)).set(doubleThat(new AngleMatcher(AngleMatcher.Units.RADIANS, Math.PI / 2, DELTA)), ArgumentMatchers.eq(ControlType.kPosition));
   }
 
   @Test