diff --git a/build.gradle b/build.gradle index 6bd6d9e2..45870e69 100644 --- a/build.gradle +++ b/build.gradle @@ -138,7 +138,7 @@ gversion { classPackage = "com.team2813" className = "BuildConstants" dateFormat = "yyyy-MM-dd HH:mm:ss z" - timeZone = "America/New_York" + timeZone = "America/Los_Angeles" indent = " " } diff --git a/gradlew b/gradlew old mode 100644 new mode 100755 diff --git a/src/main/java/com/team2813/Robot.java b/src/main/java/com/team2813/Robot.java index 1b4b9588..c030a6f5 100644 --- a/src/main/java/com/team2813/Robot.java +++ b/src/main/java/com/team2813/Robot.java @@ -112,18 +112,19 @@ public void autonomousInit() { @Override public void autonomousPeriodic() {} - /** This function is called once when teleop is enabled. */ @Override - public void teleopInit() { - // This makes sure that the autonomous stops running when - // teleop starts running. If you want the autonomous to - // continue until interrupted by another command, remove - // this line or comment it out. + public void autonomousExit() { + // This makes sure that the autonomous command isn't running after we exit the autonomous + // period if (autonomousCommand != null) { autonomousCommand.cancel(); } } + /** This function is called once when teleop is enabled. */ + @Override + public void teleopInit() {} + /** This function is called periodically during operator control. */ @Override public void teleopPeriodic() {} diff --git a/src/main/java/com/team2813/commands/DriveCommands.java b/src/main/java/com/team2813/commands/DriveCommands.java index 05448b80..ab66e026 100644 --- a/src/main/java/com/team2813/commands/DriveCommands.java +++ b/src/main/java/com/team2813/commands/DriveCommands.java @@ -83,9 +83,16 @@ public static Command joystickDrive( linearVelocity.getX() * drive.getMaxLinearSpeedMetersPerSec(), linearVelocity.getY() * drive.getMaxLinearSpeedMetersPerSec(), omega * drive.getMaxAngularSpeedRadPerSec()); + + // We have to call DriverStation#getAlliance() only once, since the return value could + // change in between calls to it. So, we turn the Optional from + // DriverStation#getAlliance() to an Optional by mapping a Red alliance to + // `true`, and defaulting to `false` if the DriverStation#getAlliance() returned an empty + // optional. This achieves the intended behavior of having `true` if, and only if + // DriverStation#getAlliance() returned a non-empty option with Alliance.Red, but avoiding + // accidentally unwrapping an empty optional boolean isFlipped = - DriverStation.getAlliance().isPresent() - && DriverStation.getAlliance().get() == Alliance.Red; + DriverStation.getAlliance().map((alliance) -> alliance == Alliance.Red).orElse(false); drive.runVelocity( ChassisSpeeds.fromFieldRelativeSpeeds( speeds, diff --git a/src/main/java/com/team2813/subsystems/drive/Drive.java b/src/main/java/com/team2813/subsystems/drive/Drive.java index 1afc7b48..b0bef1a2 100644 --- a/src/main/java/com/team2813/subsystems/drive/Drive.java +++ b/src/main/java/com/team2813/subsystems/drive/Drive.java @@ -151,13 +151,16 @@ public Drive( @Override public void periodic() { - odometryLock.lock(); // Prevents odometry updates while reading data - gyroIO.updateInputs(gyroInputs); - Logger.processInputs("Drive/Gyro", gyroInputs); - for (var module : modules) { - module.periodic(); + try { + odometryLock.lock(); // Prevents odometry updates while reading data + gyroIO.updateInputs(gyroInputs); + Logger.processInputs("Drive/Gyro", gyroInputs); + for (var module : modules) { + module.periodic(); + } + } finally { + odometryLock.unlock(); } - odometryLock.unlock(); // Stop moving when disabled if (DriverStation.isDisabled()) { diff --git a/src/main/java/com/team2813/subsystems/hopper/Hopper.java b/src/main/java/com/team2813/subsystems/hopper/Hopper.java index 9dcf1f88..315e8bbb 100644 --- a/src/main/java/com/team2813/subsystems/hopper/Hopper.java +++ b/src/main/java/com/team2813/subsystems/hopper/Hopper.java @@ -38,14 +38,14 @@ public void stop() { } public Command intakeCommand() { - return new InstantCommand(() -> intake()); + return new InstantCommand(this::intake, this); } public Command outtakeCommand() { - return new InstantCommand(() -> outtake()); + return new InstantCommand(this::outtake, this); } public Command stopCommand() { - return new InstantCommand(() -> stop()); + return new InstantCommand(this::stop, this); } } diff --git a/src/main/java/com/team2813/subsystems/hopper/Placeholder.md b/src/main/java/com/team2813/subsystems/hopper/Placeholder.md deleted file mode 100644 index 2e729eaf..00000000 --- a/src/main/java/com/team2813/subsystems/hopper/Placeholder.md +++ /dev/null @@ -1,10 +0,0 @@ -## Hardware Devices Include: -- One motor to run the hot dog rollers - - Moves the fuel toward the indexer and shooter. - -## Subsystem Hardware Capabilities: - - -## Other Notes: -- Hot dog roller motor invert should be CCW. - - Fuel will move toward indexer diff --git a/src/test/java/com/team2813/CommandTester.java b/src/test/java/com/team2813/CommandTester.java new file mode 100644 index 00000000..18ad11cf --- /dev/null +++ b/src/test/java/com/team2813/CommandTester.java @@ -0,0 +1,33 @@ +/* +Copyright 2025-2026 Prospect Robotics SWENext Club + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + +http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ +// This is taken from [lib2813](https://github.com/Prospect-Robotics/lib2813/blob/main/testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/CommandTester.java). +// When lib2813 is on maven central, this file can be deleted in favor of adding a dependency on lib2813. +package com.team2813; + +import edu.wpi.first.wpilibj2.command.Command; + +/** + * Allows tests to run commands. + * + *

Tests can get an instance by using {@link WPILibExtension}. + * + * @since 2.0.0 + */ +public interface CommandTester { + + /** Schedules the provided command and runs it until it completes. */ + void runUntilComplete(Command command); +} diff --git a/src/test/java/com/team2813/RobotContainerTest.java b/src/test/java/com/team2813/RobotContainerTest.java new file mode 100644 index 00000000..5ddc4683 --- /dev/null +++ b/src/test/java/com/team2813/RobotContainerTest.java @@ -0,0 +1,19 @@ +package com.team2813; + +import edu.wpi.first.wpilibj2.command.Commands; +import org.junit.jupiter.api.Assumptions; +import org.junit.jupiter.api.Test; +import org.junit.jupiter.api.extension.ExtendWith; + +@ExtendWith(WPILibExtension.class) +public class RobotContainerTest { + @Test + public void canCreateRobotAndRunPeriodic(CommandTester tester) { + Assumptions.assumeTrue( + Constants.simMode == Constants.Mode.SIM, "The sim mode must be sim to run tests!"); + // create a robot container + RobotContainer robotContainer = new RobotContainer(); + // Run one periodic cycle + tester.runUntilComplete(Commands.none()); + } +} diff --git a/src/test/java/com/team2813/WPILibExtension.java b/src/test/java/com/team2813/WPILibExtension.java new file mode 100644 index 00000000..8344c78d --- /dev/null +++ b/src/test/java/com/team2813/WPILibExtension.java @@ -0,0 +1,126 @@ +/* +Copyright 2025-2026 Prospect Robotics SWENext Club + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + +http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ +package com.team2813; + +import edu.wpi.first.hal.HAL; +import edu.wpi.first.wpilibj.RuntimeType; +import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj.simulation.DriverStationSim; +import edu.wpi.first.wpilibj.simulation.SimHooks; +import edu.wpi.first.wpilibj2.command.CommandScheduler; +import org.junit.jupiter.api.extension.*; + +/** + * JUnit Jupiter extension for testing code that depends on WPILib. + * + *

Also provides a {@link CommandTester} for tests. + * + *

Example use: + * + * 

{@code
+ * @ExtendWith(WPILibExtension.class)
+ * public final class FlightSubsystemTest {
+ *
+ *   @Test
+ *   public void initiallyNotInAir() {
+ *     var flight = new FlightSubsystem();
+ *
+ *     assertThat(flight.inAir()).isFalse();
+ *   }
+ *
+ *   @Test
+ *   public void takesFlight(CommandTester commandTester) {
+ *     var flight = new FlightSubsystem();
+ *     Command takeOff = flight.createTakeOffCommandCommand();
+ *
+ *     commandTester.runUntilComplete(takeOff);
+ *
+ *     assertThat(flight.inAir()).isTrue();
+ *   }
+ * }
+ * }
+ * + * @since 2.0.0 + */ +// This is taken from [lib2813](https://github.com/Prospect-Robotics/lib2813/blob/main/testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/WPILibExtension.java). +// When lib2813 is on maven central, this file can be deleted in favor of adding a dependency on lib2813. +public final class WPILibExtension + implements Extension, + AfterAllCallback, + AfterEachCallback, + BeforeAllCallback, + ParameterResolver { + private static final double NANOS_PER_SECOND = 1_000_000_000d; + + @Override + public void beforeAll(ExtensionContext context) { + // See https://www.chiefdelphi.com/t/driverstation-getalliance-in-gradle-test/ + if (!HAL.initialize(500, 0)) { + throw new IllegalStateException("Could not initialize Hardware Abstraction Layer"); + } + DriverStationSim.setEnabled(true); + DriverStationSim.notifyNewData(); + SimHooks.setHALRuntimeType(RuntimeType.kSimulation.value); + + CommandScheduler commandScheduler = CommandScheduler.getInstance(); + commandScheduler.enable(); + commandScheduler.cancelAll(); + commandScheduler.unregisterAllSubsystems(); + } + + @Override + public void afterEach(ExtensionContext context) { + CommandScheduler commandScheduler = CommandScheduler.getInstance(); + commandScheduler.cancelAll(); + commandScheduler.unregisterAllSubsystems(); + } + + @Override + public void afterAll(ExtensionContext context) { + CommandScheduler commandScheduler = CommandScheduler.getInstance(); + commandScheduler.cancelAll(); + commandScheduler.unregisterAllSubsystems(); + commandScheduler.disable(); + DriverStationSim.setEnabled(false); + DriverStationSim.notifyNewData(); + } + + @Override + public boolean supportsParameter( + ParameterContext parameterContext, ExtensionContext extensionContext) + throws ParameterResolutionException { + return CommandTester.class.equals(parameterContext.getParameter().getType()); + } + + @Override + public CommandTester resolveParameter( + ParameterContext parameterContext, ExtensionContext extensionContext) { + CommandScheduler scheduler = CommandScheduler.getInstance(); + + return command -> { + SimHooks.pauseTiming(); + try { + scheduler.schedule(command); + do { + scheduler.run(); + SimHooks.stepTiming(TimedRobot.kDefaultPeriod); + } while (scheduler.isScheduled(command)); + } finally { + SimHooks.resumeTiming(); + } + }; + } +}