Subsystems/test

subsystem/intake.py

@@ -37,7 +37,6 @@ def __init__(self):
 
         self.encoder: CANcoder = CANcoder(config.intake_cancoder_id)
 
-
     def init(self):
         self.horizontal_motor.init()
         self.pivot_motor.init()

tests/subsystems/test_climber.py

@@ -1,61 +1,40 @@
-# from unittest.mock import MagicMock
-
-# import pytest
-# import rev
-# from pytest import MonkeyPatch
-
-# import config
-# import constants
-# from subsystem import Climber
-# from toolkit.motors.ctre_motors import TalonFX
-
-# @pytest.fixture()
-# def climber() -> Climber:
-#     # Create a climber, but it has mock
-#     # classes for its dependencies
-#     my_climber = Climber()
-#     my_climber.climber_motor = MagicMock()
-#     # my_climber.init()
-#     return my_climber
-
-# def climber_zero(climber: Climber):
-
-#     climber.init()
-#     climber.climber_motor.init.assert_called()
-
-# @pytest.mark.parametrize(
-#     "test_input",
-#     [
-#         (1),
-#         (2),
-#         (3),
-#         (4)
-#     ]
-# )
-
-# def test_set_angle(test_input, climber: Climber):
-#     climber.set_angle(test_input)
-#     climber.climber_motor.set_target_position.assert_called_with(test_input * constants.climber_gear_ratio)
-
-# def test_get_angle(climber: Climber):
-#     climber.get_angle()
-#     climber.climber_motor.get_sensor_position.assert_called()
-
-# @pytest.mark.parametrize(
-#     "test_input",
-#     [
-#         (1),
-#         (2),
-#         (3),
-#         (4)
-#     ]
-# )
-
-# def test_set_raw_output(test_input, climber: Climber):
-#     climber.set_raw_output(test_input)
-#     climber.climber_motor.set_raw_output.assert_called_with(test_input)
-#     climber.climber_motor.set_raw_output.assert_called_with(test_input)
-
-# def test_get_raw_output(climber: Climber):
-#     climber.get_raw_output()
-#     climber.climber_motor.get_applied_output.assert_called()
+import pytest
+from subsystem import Climber
+from unittest.mock import MagicMock
+
+@pytest.fixture
+def climber() -> Climber:
+    climber = Climber()
+    climber.climber_motor = MagicMock()
+    return climber
+
+def test_climber_init(climber: Climber):
+    climber.init()
+    climber.climber_motor.init.assert_called()
+    climber.climber_motor.set_sensor_position.assert_called_with(0)
+
+def test_zero(climber: Climber):
+    climber.zero()
+    climber.climber_motor.set_sensor_position.assert_called_with(0)
+    assert climber.zeroed == True
+
+@pytest.mark.parametrize(
+    "test_input",
+    [
+        (0.0),
+        (0.5),
+        (1.0),
+        (-0.5)
+    ]
+)
+def test_set_raw_output(test_input, climber: Climber):
+    climber.set_raw_output(test_input)
+    climber.climber_motor.set_raw_output.assert_called_with(test_input)
+
+def test_get_motor_revolutions(climber: Climber):
+    assert climber.get_motor_revolutions() == climber.climber_motor.get_sensor_position()
+
+def test_update_table(climber: Climber):
+    climber.update_table()
+    climber.climber_motor.get_sensor_position.assert_called()
+    climber.climber_motor.get_motor_current.assert_called()

tests/subsystems/test_intake.py

@@ -1,12 +1,11 @@
 from unittest.mock import MagicMock
 
 import pytest
-
+import math
 import config
-
+import constants
 from subsystem import Intake
 
-
 @pytest.fixture
 def intake() -> Intake:
     intake = Intake()
@@ -16,21 +15,10 @@ def intake() -> Intake:
 
     return intake
 
-
-# @pytest.fixture
-# def intake() -> Intake:
-#     intake = Intake()
-
-#     intake.horizontal_motor = MagicMock()
-#     intake.vertical_motor = MagicMock()
-#     intake.pivot_motor = MagicMock()
-
-#     return intake
-
-
-# # def test_intake_init(intake: Intake):
-# #     intake.init()
-
+def test_init(intake: Intake):
+    intake.init()
+    intake.horizontal_motor.init.assert_called()
+    intake.pivot_motor.init.assert_called()
 
 def test_roll_in(intake: Intake):
     intake.roll_in()
@@ -39,6 +27,17 @@ def test_roll_in(intake: Intake):
     )
     assert intake.intake_running is True
 
+def test_intake_algae(intake: Intake):
+    intake.intake_algae()
+    intake.horizontal_motor.set_raw_output.assert_called_with(
+        -config.intake_algae_speed
+    )
+    assert intake.intake_running is True
+
+def test_stop(intake: Intake):
+    intake.stop()
+    intake.horizontal_motor.set_raw_output.assert_called_with(0)
+    assert intake.intake_running is False
 
 def test_roll_out(intake: Intake):
     intake.roll_out()
@@ -47,8 +46,69 @@ def test_roll_out(intake: Intake):
     )
     assert intake.intake_running is True
 
+def test_extake_algae(intake: Intake):
+    intake.extake_algae()
+    intake.horizontal_motor.set_raw_output.assert_called_with(
+        config.extake_algae_speed
+    )
+    assert intake.intake_running is True
 
-def test_stop(intake: Intake):
-    intake.stop()
-    intake.horizontal_motor.set_raw_output.assert_called_with(0)
-    assert intake.intake_running is False
+def test_get_horizontal_motor_current(intake: Intake):
+    assert intake.get_horizontal_motor_current() == intake.horizontal_motor.get_motor_current()
+
+def test_get_pivot_motor_current(intake: Intake):
+    assert intake.get_pivot_motor_current() == intake.pivot_motor.get_motor_current()
+
+# Since limit angle is a simple conditional, we can just test using a few angles
+
+@pytest.mark.parametrize("angle", [
+    config.intake_min_angle,
+    config.intake_max_angle,
+    config.intake_min_angle - 1,
+    config.intake_max_angle + 1
+])
+def test_limit_angle(angle, intake: Intake):
+    if angle <= config.intake_min_angle:
+        assert intake.limit_angle(angle) == config.intake_min_angle
+    elif angle > config.intake_max_angle:
+        assert intake.limit_angle(angle) == config.intake_max_angle
+    else:
+        assert intake.limit_angle(angle) == angle
+
+def test_zero_pivot(intake: Intake):
+    intake.encoder = MagicMock()
+
+    position_mock = MagicMock()
+    position_mock.value = 0.7
+    intake.encoder.get_absolute_position.return_value = position_mock
+
+    intake.zero_pivot()
+
+    expected_angle = ((position_mock.value - config.intake_encoder_zero) / constants.intake_encoder_gear_ratio * 2 * math.pi)
+
+    assert intake.pivot_angle == expected_angle
+    assert intake.pivot_zeroed is True
+
+    expected_sensor_position = expected_angle * constants.intake_pivot_gear_ratio / (2 * math.pi)
+    intake.pivot_motor.set_sensor_position.assert_called_with(expected_sensor_position)
+
+@pytest.mark.parametrize("pivot_angle", [
+    config.intake_min_angle,
+    config.intake_max_angle,
+    config.intake_min_angle - 1,
+    config.intake_max_angle + 1
+])
+def test_get_and_set_pivot_angle(intake: Intake, pivot_angle: float):
+    intake.pivot_motor.get_sensor_position.return_value = (pivot_angle / (2 * math.pi)) * constants.intake_pivot_gear_ratio
+    intake.set_pivot_angle(pivot_angle)
+    assert intake.get_pivot_angle() == pivot_angle
+def test_stop_pivot(intake: Intake):
+    intake.stop_pivot()
+    intake.pivot_motor.set_raw_output.assert_called_with(0)
+
+def test_update_table(intake: Intake):
+    intake.update_table()
+    intake.pivot_motor.get_motor_current.assert_called()
+    intake.pivot_motor.get_applied_output.assert_called()
+    intake.pivot_motor.get_sensor_velocity.assert_called()
+    intake.pivot_motor.get_sensor_acceleration.assert_called()