diff --git a/lib/src/test/java/com/team2813/lib2813/subsystems/ParameterizedIntakeSubsystemTest.java b/lib/src/test/java/com/team2813/lib2813/subsystems/ParameterizedIntakeSubsystemTest.java
index a7059c4e..45eea151 100644
--- a/lib/src/test/java/com/team2813/lib2813/subsystems/ParameterizedIntakeSubsystemTest.java
+++ b/lib/src/test/java/com/team2813/lib2813/subsystems/ParameterizedIntakeSubsystemTest.java
@@ -1,12 +1,11 @@
package com.team2813.lib2813.subsystems;
import static com.google.common.truth.Truth.assertThat;
-import static org.mockito.Mockito.mock;
-import static org.mockito.Mockito.verifyNoInteractions;
+import static org.junit.jupiter.api.Assumptions.*;
import com.team2813.lib2813.control.ControlMode;
-import com.team2813.lib2813.control.PIDMotor;
-import com.team2813.lib2813.testing.FakePIDMotor;
+import com.team2813.lib2813.control.Motor;
+import com.team2813.lib2813.testing.FakeMotor;
import com.team2813.lib2813.testing.junit.jupiter.CommandTester;
import com.team2813.lib2813.testing.junit.jupiter.WPILibExtension;
import edu.wpi.first.wpilibj2.command.Command;
@@ -14,7 +13,6 @@
import org.junit.jupiter.api.extension.ExtendWith;
import org.junit.jupiter.params.ParameterizedClass;
import org.junit.jupiter.params.provider.EnumSource;
-import org.mockito.Answers;
@ParameterizedClass
@EnumSource(ControlMode.class)
@@ -22,12 +20,12 @@
public final class ParameterizedIntakeSubsystemTest {
private static class ConcreteParameterizedIntakeSubsystem extends ParameterizedIntakeSubsystem {
- protected ConcreteParameterizedIntakeSubsystem(PIDMotor intakeMotor, Params params) {
+ protected ConcreteParameterizedIntakeSubsystem(Motor intakeMotor, Params params) {
super(intakeMotor, params);
}
}
- final FakePIDMotor fakeMotor = mock(FakePIDMotor.class, Answers.CALLS_REAL_METHODS);
+ private final FakeMotor fakeMotor = new FakeMotor();
private final ParameterizedIntakeSubsystem.Params params;
public ParameterizedIntakeSubsystemTest(ControlMode controlMode) {
@@ -42,8 +40,7 @@ public ParameterizedIntakeSubsystemTest(ControlMode controlMode) {
@Test
public void initialState() {
try (var ignored = new ConcreteParameterizedIntakeSubsystem(fakeMotor, params)) {
- assertMotorIsStopped();
- verifyNoInteractions(fakeMotor);
+ fakeMotor.assertIsStopped();
}
}
@@ -51,7 +48,7 @@ public void initialState() {
public void intakeItem(CommandTester commandTester) {
try (var intake = new ConcreteParameterizedIntakeSubsystem(fakeMotor, params)) {
Command command = intake.intakeItemCommand();
- assertMotorIsStopped();
+ fakeMotor.assertIsStopped();
commandTester.runUntilComplete(command);
@@ -61,6 +58,7 @@ public void intakeItem(CommandTester commandTester) {
@Test
public void stopAfterIntakingItem(CommandTester commandTester) {
+ assumeTrue(!ControlMode.MOTION_MAGIC.equals(params.controlMode()));
try (var intake = new ConcreteParameterizedIntakeSubsystem(fakeMotor, params)) {
Command command = intake.intakeItemCommand();
commandTester.runUntilComplete(command);
@@ -69,7 +67,7 @@ public void stopAfterIntakingItem(CommandTester commandTester) {
commandTester.runUntilComplete(command);
- assertMotorIsStopped();
+ fakeMotor.assertIsStopped();
}
}
@@ -88,6 +86,7 @@ public void outtakeItem(CommandTester commandTester) {
@Test
public void stopAfterOuttakingItem(CommandTester commandTester) {
+ assumeTrue(!ControlMode.MOTION_MAGIC.equals(params.controlMode()));
try (var intake = new ConcreteParameterizedIntakeSubsystem(fakeMotor, params)) {
intake.intakeGamePiece();
Command command = intake.outtakeItemCommand();
@@ -97,14 +96,10 @@ public void stopAfterOuttakingItem(CommandTester commandTester) {
commandTester.runUntilComplete(command);
- assertMotorIsStopped();
+ fakeMotor.assertIsStopped();
}
}
- private void assertMotorIsStopped() {
- assertThat(fakeMotor.demand).isWithin(0.01).of(0.0);
- }
-
private void assertMotorIsRunning() {
assertThat(fakeMotor.demand).isNotWithin(0.01).of(0.0);
}
diff --git a/testing/src/main/java/com/team2813/lib2813/testing/FakeMotor.java b/testing/src/main/java/com/team2813/lib2813/testing/FakeMotor.java
new file mode 100644
index 00000000..93cf31aa
--- /dev/null
+++ b/testing/src/main/java/com/team2813/lib2813/testing/FakeMotor.java
@@ -0,0 +1,106 @@
+package com.team2813.lib2813.testing;
+
+import static com.google.common.truth.Truth.assertThat;
+
+import com.team2813.lib2813.control.ControlMode;
+import com.team2813.lib2813.control.Motor;
+import edu.wpi.first.units.Units;
+import edu.wpi.first.units.measure.Current;
+import edu.wpi.first.units.measure.Resistance;
+import edu.wpi.first.units.measure.Voltage;
+import java.util.Objects;
+
+/**
+ * A fake implementation of {@link Motor}; used for testing.
+ *
+ * This class simulates motor behavior by storing the most recent control mode and demand value.
+ * It also includes methods that make it easier to verify the current state of the motor.
+ */
+public class FakeMotor implements Motor {
+ private boolean isStopped = true;
+ private double feedForward = 0.0f;
+ public double demand = 0.0f;
+
+ public Resistance resistance = Resistance.ofBaseUnits(0.025f, Units.Ohms);
+ private ControlMode controlMode = ControlMode.VOLTAGE;
+
+ /**
+ * Gets the current voltage being applied to the motor.
+ *
+ * @return applied voltage.
+ * @throws IllegalStateException if the motor's control mode is not {@link ControlMode#VOLTAGE}.
+ */
+ public Voltage getMotorVoltage() {
+ if (!ControlMode.VOLTAGE.equals(controlMode)) {
+ throw new IllegalStateException("Cannot get voltage when controlMode is " + controlMode);
+ }
+ return Voltage.ofBaseUnits(demand, Units.Volts);
+ }
+
+ /**
+ * Gets the feedforward that was applied.
+ *
+ * @return feedforward, in fractional units between -1 and +1.
+ * @throws IllegalStateException if the current control mode does not support feedforward.
+ */
+ public double getFeedForward() {
+ return switch (controlMode) {
+ case VELOCITY, MOTION_MAGIC -> feedForward;
+ default ->
+ throw new IllegalStateException(
+ "Cannot get feedforward when controlMode is " + controlMode);
+ };
+ }
+
+ /**
+ * Assert that the motor is stopped.
+ *
+ * @throws AssertionError if the motor is running.
+ */
+ public final void assertIsStopped() {
+ assertThat(isStopped).isTrue();
+ }
+
+ @Override
+ public final void set(ControlMode mode, double demand) {
+ set(mode, demand, 0);
+ }
+
+ /**
+ * {@inheritDoc}
+ *
+ * @throws AssertionError if the feedForward is not in the range [-1, 1].
+ */
+ @Override
+ public void set(ControlMode mode, double demand, double feedForward) {
+ Objects.requireNonNull(mode, "mode should not be null");
+ if (feedForward >= 0) {
+ assertThat(feedForward).isAtMost(1.01);
+ } else {
+ assertThat(feedForward).isAtLeast(-1.01);
+ }
+
+ if (controlMode != ControlMode.MOTION_MAGIC) {
+ isStopped = (Math.abs(demand) <= 0.0001 && Math.abs(feedForward) <= 0.0001);
+ }
+ this.controlMode = mode;
+ this.demand = demand;
+ this.feedForward = feedForward;
+ }
+
+ /**
+ * {@inheritDoc}
+ *
+ * @throws IllegalStateException if the current control mode does not support feedforward.
+ */
+ @Override
+ public final Current getAppliedCurrent() {
+ try {
+ return getMotorVoltage().div(resistance);
+ } catch (IllegalStateException e) {
+ throw new IllegalStateException("Cannot calculate voltage", e);
+ } catch (RuntimeException e) {
+ throw new RuntimeException("Cannot calculate voltage", e);
+ }
+ }
+}
diff --git a/testing/src/main/java/com/team2813/lib2813/testing/FakePIDMotor.java b/testing/src/main/java/com/team2813/lib2813/testing/FakePIDMotor.java
index b3d90037..9c346086 100644
--- a/testing/src/main/java/com/team2813/lib2813/testing/FakePIDMotor.java
+++ b/testing/src/main/java/com/team2813/lib2813/testing/FakePIDMotor.java
@@ -1,35 +1,19 @@
package com.team2813.lib2813.testing;
-import com.google.common.truth.Truth;
-import com.team2813.lib2813.control.ControlMode;
import com.team2813.lib2813.control.PIDMotor;
import edu.wpi.first.units.Units;
-import edu.wpi.first.units.measure.AngularVelocity;
-public abstract class FakePIDMotor implements PIDMotor {
- public double demand = 0.0f;
- private ControlMode controlMode;
+/**
+ * A fake implementation of {@link PIDMotor}; used for testing.
+ *
+ *
This class simulates motor behavior by storing the most recent control mode and demand value.
+ * It also includes methods that make it easier to verify the current state of the motor.
+ */
+public abstract class FakePIDMotor extends FakeMotor implements PIDMotor {
+ @Deprecated
public double getVoltage() {
- Truth.assertThat(controlMode).isEqualTo(ControlMode.VOLTAGE);
- return demand;
- }
-
- @Override
- public void set(ControlMode mode, double demand) {
- Truth.assertThat(mode).isNotNull();
- controlMode = mode;
- this.demand = demand;
- }
-
- @Override
- public void set(ControlMode mode, double demand, double feedForward) {
- set(mode, demand);
- }
-
- @Override
- public AngularVelocity getVelocityMeasure() {
- return Units.RadiansPerSecond.of(demand * 20);
+ return getMotorVoltage().in(Units.Volts);
}
@Override