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Add getters for 'demand' and 'controlMode' in FakeMotor #77

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Merged
kcooney merged 1 commit into from
Oct 14, 2025
Merged

Add getters for 'demand' and 'controlMode' in FakeMotor #77

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6 changes: 3 additions & 3 deletions lib/src/test/java/com/team2813/lib2813/subsystems/ParameterizedIntakeSubsystemTest.java
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,7 @@ public void intakeItem(CommandTester commandTester) {

commandTester.runUntilComplete(command);

assertThat(fakeMotor.demand).isWithin(0.01).of(params.intakeDemand());
assertThat(fakeMotor.getDemand()).isWithin(0.01).of(params.intakeDemand());
}
}

Expand Down Expand Up @@ -80,7 +80,7 @@ public void outtakeItem(CommandTester commandTester) {

commandTester.runUntilComplete(command);

assertThat(fakeMotor.demand).isWithin(0.01).of(params.outtakeDemand());
assertThat(fakeMotor.getDemand()).isWithin(0.01).of(params.outtakeDemand());
}
}

Expand All @@ -101,6 +101,6 @@ public void stopAfterOuttakingItem(CommandTester commandTester) {
}

private void assertMotorIsRunning() {
assertThat(fakeMotor.demand).isNotWithin(0.01).of(0.0);
assertThat(fakeMotor.getDemand()).isNotWithin(0.01).of(0.0);
}
}
13 changes: 13 additions & 0 deletions testing/src/main/java/com/team2813/lib2813/testing/FakeMotor.java
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Expand Up @@ -24,6 +24,19 @@ public class FakeMotor implements Motor {
public Resistance resistance = Resistance.ofBaseUnits(0.025f, Units.Ohms);
private ControlMode controlMode = ControlMode.VOLTAGE;

/** Gets the most recently applied demand value for this motor. */
public final double getDemand() {
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@vdikov vdikov Oct 13, 2025

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I was wondering the other day, if we want to make the Motor abstraction be a generic that takes the control mode as a template parameter. Then, the getDemand() should return demand in the type that matches the control mode - Position, Velocity, Voltage, etc.

This way, we could potentially prevent improper uses of the demand value (e.g., use a demand value as a voltage, from a motor that has been set up for speed).

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@kcooney kcooney Oct 14, 2025

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@vdikov That's an interesting idea. Perhaps create an issue tracking that?

return demand;
}

/**
* Gets the control mode used for the most recent time the demand value was updated for this
* motor.
*/
public final ControlMode getControlMode() {
return controlMode;
}

/**
* Gets the current voltage being applied to the motor.
*
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