Create LEDWaitingCommandTest.java

src/test/java/command_tests/simple_command_tests/LEDWaitingCommandTest.java

@@ -0,0 +1,64 @@
+package command_tests.simple_command_tests;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static subsystem_tests.led_tests.utils.LEDTestUtils.testAtTime;
+
+import command_tests.utils.CommandTestBase;
+import edu.wpi.first.wpilibj.Timer;
+import frc.robot.commands.led_commands.LEDLoadingWaitCommand;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+
+class LEDWaitingCommandTest extends CommandTestBase {
+  private static final double kWaitTime = 2.0;
+  private LEDLoadingWaitCommand ledLoadingWaitCommand;
+
+  @BeforeEach
+  public void setUp() {
+    super.setUp();
+    ledLoadingWaitCommand = new LEDLoadingWaitCommand(kWaitTime);
+    commandScheduler.schedule(ledLoadingWaitCommand);
+  }
+
+  @AfterEach
+  public void tearDown() {
+    super.tearDown();
+  }
+
+  void testLEDLoading(double waitTime) {
+    double startTime = Timer.getFPGATimestamp();
+    for (double i = 0.1; Timer.getFPGATimestamp() - startTime + i < waitTime; i += 0.1) {
+      Timer.delay(i);
+      commandScheduler.run();
+      testAtTime(ledSubsystem, startTime, waitTime);
+    }
+  }
+
+  /**
+   * This test takes a lot of time as it tries a lot of differently timed {@link
+   * LEDLoadingWaitCommand}s
+   */
+  @Test
+  void testLEDLoading() {
+    // try multiple wait times, just so we can do it
+    for (double i = 0.0; i <= 6; i += 1.2) {
+      commandScheduler.cancelAll();
+      commandScheduler.schedule(new LEDLoadingWaitCommand(i));
+      commandScheduler.run();
+      testLEDLoading(i);
+    }
+  }
+
+  @Test
+  void itActuallyEnds() {
+    commandScheduler.run();
+    assertEquals(
+        false,
+        ledLoadingWaitCommand.isFinished(),
+        "led wait command shouldn't finish before wait time");
+    Timer.delay(kWaitTime); // just in case add a little bit extra time
+    assertEquals(
+        true, ledLoadingWaitCommand.isFinished(), "led wait command should finish after wait time");
+  }
+}