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Feature/shooter dynamic error ranges #124
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66bed92
Implement getArmAngleForExtension(), convert extension distance to an…
Raccoonlover123 cc72169
Merge branch 'main' into ArmAngleDistance
JohnGilb 9439a79
Remove legacy method
JohnGilb 817376e
Merge branch 'main' into ArmAngleDistance
JohnGilb 041f948
Larger shooter wheel RPM errors are acceptable for short shots and am…
JohnGilb 0b8d476
Merge branch 'main' into feature/ShooterDynamicErrorRanges
JohnGilb 7aad27f
Merge branch 'main' into feature/ShooterDynamicErrorRanges
JohnGilb 8e7ef21
Merge branch 'main' into feature/ShooterDynamicErrorRanges
stephenjust 13b5f9f
Merge branch 'main' into feature/ShooterDynamicErrorRanges
stephenjust 3e22d06
Merge branch 'main' into feature/ShooterDynamicErrorRanges
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64 changes: 64 additions & 0 deletions
64
src/test/java/competition/subsystems/shooter/ShooterWheelMaintainerCommandTest.java
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package competition.subsystems.shooter; | ||
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import competition.BaseCompetitionTest; | ||
import competition.subsystems.arm.ArmSubsystem; | ||
import competition.subsystems.shooter.commands.ShooterWheelMaintainerCommand; | ||
import org.junit.Test; | ||
import xbot.common.controls.actuators.mock_adapters.MockCANSparkMax; | ||
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import static org.junit.Assert.assertFalse; | ||
import static org.junit.Assert.assertTrue; | ||
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public class ShooterWheelMaintainerCommandTest extends BaseCompetitionTest { | ||
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ShooterWheelMaintainerCommand command; | ||
ShooterWheelSubsystem wheel; | ||
ArmSubsystem arm; | ||
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@Override | ||
public void setUp() { | ||
super.setUp(); | ||
command = this.getInjectorComponent().shooterWheelMaintainerCommand(); | ||
wheel = this.getInjectorComponent().shooterSubsystem(); | ||
arm = this.getInjectorComponent().armSubsystem(); | ||
} | ||
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@Test | ||
public void testDifferentThresholds() { | ||
command.initialize(); | ||
command.execute(); | ||
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wheel.setTargetValue(3000); | ||
setWheelSpeed(2500); | ||
moveArm(15); | ||
wheel.refreshDataFrame(); | ||
arm.refreshDataFrame(); | ||
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assertFalse(command.getErrorWithinTolerance()); | ||
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setWheelSpeed(2500); | ||
moveArm(0); | ||
wheel.refreshDataFrame(); | ||
arm.refreshDataFrame(); | ||
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assertTrue(command.getErrorWithinTolerance()); | ||
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setWheelSpeed(2500); | ||
moveArm(1000); | ||
wheel.refreshDataFrame(); | ||
arm.refreshDataFrame(); | ||
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assertTrue(command.getErrorWithinTolerance()); | ||
} | ||
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private void setWheelSpeed(double speed) { | ||
((MockCANSparkMax)wheel.upperWheelMotor).setVelocity(speed); | ||
((MockCANSparkMax)wheel.lowerWheelMotor).setVelocity(speed); | ||
} | ||
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private void moveArm(double position) { | ||
((MockCANSparkMax)arm.armMotorLeft).setPosition(position); | ||
((MockCANSparkMax)arm.armMotorRight).setPosition(position); | ||
} | ||
} |
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⭐ I think we might want a different version of this command that doesn't end (and just keeps shooting steadily instead), I'm a little worried the repeatedly will be confusing with the current isFinished logic and shooting for a min time