unit testing thing

lasarobotics · Feb 1, 2025 · 1b9fbbc · 1b9fbbc
1 parent 8c57c9d
commit 1b9fbbc
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Showing 2 changed files with 88 additions and 6 deletions.
diff --git a/src/main/java/frc/robot/BuildConstants.java b/src/main/java/frc/robot/BuildConstants.java
@@ -7,13 +7,13 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "PH2025";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 28;
-  public static final String GIT_SHA = "cb52a32e5e0e51ca3ab73598b476da94f065fcce";
-  public static final String GIT_DATE = "2025-02-01 12:19:50 CST";
+  public static final int GIT_REVISION = 29;
+  public static final String GIT_SHA = "8c57c9d1e30b6102266894a5597b217dba3e22ec";
+  public static final String GIT_DATE = "2025-02-01 12:44:16 CST";
   public static final String GIT_BRANCH = "endeffecter-work";
-  public static final String BUILD_DATE = "2025-02-01 12:21:31 CST";
-  public static final long BUILD_UNIX_TIME = 1738434091766L;
-  public static final int DIRTY = 1;
+  public static final String BUILD_DATE = "2025-02-01 12:44:53 CST";
+  public static final long BUILD_UNIX_TIME = 1738435493122L;
+  public static final int DIRTY = 0;
 
   private BuildConstants(){}
 }
diff --git a/src/test/java/frc/robot/subsystems/EndEffectorSubsystemTest.java b/src/test/java/frc/robot/subsystems/EndEffectorSubsystemTest.java
@@ -0,0 +1,82 @@
+package frc.robot.subsystems;
+
+import edu.wpi.first.hal.HAL;
+import frc.robot.Constants;
+import frc.robot.subsystems.endeffector.EndEffectorSubsystem;
+import static org.mockito.ArgumentMatchers.doubleThat;
+import static org.mockito.Mockito.mock;
+import static org.mockito.Mockito.times;
+import static org.mockito.Mockito.verify;
+import static org.mockito.Mockito.when;
+
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.DisplayName;
+import org.junit.jupiter.api.MethodOrderer;
+import org.junit.jupiter.api.Order;
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.api.TestMethodOrder;
+import org.lasarobotics.drive.MAXSwerveModule;
+import org.lasarobotics.drive.MAXSwerveModule.ModuleLocation;
+import org.lasarobotics.hardware.kauailabs.NavX2;
+import org.lasarobotics.hardware.kauailabs.NavX2InputsAutoLogged;
+import org.lasarobotics.hardware.revrobotics.Spark;
+import org.lasarobotics.hardware.revrobotics.Spark.MotorKind;
+import org.lasarobotics.hardware.revrobotics.SparkInputsAutoLogged;
+import org.lasarobotics.utils.GlobalConstants;
+import org.mockito.AdditionalMatchers;
+import org.mockito.ArgumentMatchers;
+
+
+import org.lasarobotics.hardware.revrobotics.Spark;
+import org.lasarobotics.hardware.revrobotics.SparkInputsAutoLogged;
+import org.lasarobotics.hardware.revrobotics.Spark.MotorKind;
+
+@TestMethodOrder(MethodOrderer.OrderAnnotation.class)
+public class EndEffectorSubsystemTest {
+    private EndEffectorSubsystem m_endEffectorSystem;
+    private EndEffectorSubsystem.Hardware m_endEffectorHardware;
+
+    private Spark m_endEffectorMotor;
+
+    @BeforeEach
+    public void setup() {
+        HAL.initialize(500, 0);
+
+        m_endEffectorMotor = mock(Spark.class);
+
+        SparkInputsAutoLogged sparkInputs = new SparkInputsAutoLogged();
+        when(m_endEffectorMotor.getInputs()).thenReturn(sparkInputs);
+
+        when(m_endEffectorMotor.getMotorType()).thenReturn(MotorKind.NEO_VORTEX);
+
+        when(m_endEffectorMotor.getID()).thenReturn(Constants.EndEffectorHardware.OUTTAKE_MOTOR_ID);
+
+        m_endEffectorHardware = new EndEffectorSubsystem.Hardware(m_endEffectorMotor);
+
+        m_endEffectorSystem = new EndEffectorSubsystem(m_endEffectorHardware);
+    }
+
+    public void close() {
+        m_endEffectorSystem.close();
+        m_endEffectorSystem = null;
+    }
+
+    private SparkInputsAutoLogged getRotateSparkInput(Rotation2d rotation, ModuleLocation moduleLocation) {
+        var sparkInputs = new SparkInputsAutoLogged();
+        sparkInputs.absoluteEncoderPosition = rotation.minus(moduleLocation.offset).getRadians();
+
+        return sparkInputs;
+    }
+
+    @Test
+    @Order(1)
+    @DisplayName("Test if End Effector can outtake")
+    public void outtake() {
+        SparkInputsAutoLogged sparkInputs = new SparkInputsAutoLogged();
+
+        m_endEffectorSystem.setState(EndEffectorSubsystem.endEffectorStates.SCORE);
+
+        verify(m_endEffectorMotor, times(1)).set(1.0);
+    }
+}