change most timer.Delay()'s to SimHooks.stepTiming

this way, the tests take signifantly less time. I need to implement this also on ledCommands so that It doesn't actually wait a whole hour and we can use the wpilib's cool system for it instead
MEFThunders-7035 · May 10, 2024 · ee14ff3 · ee14ff3
1 parent 27ab608
commit ee14ff3
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Showing 4 changed files with 13 additions and 11 deletions.
diff --git a/src/test/java/command_tests/arm_tests/BasicShooterTest.java b/src/test/java/command_tests/arm_tests/BasicShooterTest.java
@@ -6,6 +6,7 @@
 import command_tests.utils.CommandTestBase;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.simulation.PWMSim;
+import edu.wpi.first.wpilibj.simulation.SimHooks;
 import frc.robot.Constants.ShooterConstants;
 import frc.robot.commands.BasicRunShooterCommand;
 import frc.robot.subsystems.ShooterSubsystem;
@@ -44,7 +45,7 @@ void testSetSpeed() {
         ShooterConstants.kShooterSpeed,
         shooterMotor.getSpeed(),
         "Shooter motor should be at shooter speed");
-    Timer.delay(kWaitTime);
+    SimHooks.stepTiming(kWaitTime);
     commandScheduler.run();
     // Motor should be at 0 after waitTime
     assertEquals(
@@ -57,7 +58,7 @@ void testSetSpeed() {
   void testLEDLoading() {
     double startTime = Timer.getFPGATimestamp();
     commandScheduler.run();
-    Timer.delay(kWaitTime); // load waitTime
+    SimHooks.stepTiming(kWaitTime); // load waitTime
     commandScheduler.run();
     testAtTime(ledSubsystem, startTime, kWaitTime);
   }

diff --git a/src/test/java/command_tests/controller_commands/VibrateControllerCommandTest.java b/src/test/java/command_tests/controller_commands/VibrateControllerCommandTest.java
@@ -4,8 +4,8 @@
 
 import command_tests.utils.CommandTestBase;
 import edu.wpi.first.wpilibj.GenericHID.RumbleType;
-import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.simulation.SimHooks;
 import edu.wpi.first.wpilibj.simulation.XboxControllerSim;
 import frc.robot.commands.VibrateControllerCommand;
 import org.junit.jupiter.api.AfterEach;
@@ -47,7 +47,7 @@ void testItVibrates() {
   @Test
   void testItStopsVibrating() {
     commandScheduler.run();
-    Timer.delay(kWaitTime);
+    SimHooks.stepTiming(kWaitTime);
     commandScheduler.run();
     assertEquals(0, controllerSim.getRumble(RumbleType.kLeftRumble), kDelta);
   }
@@ -63,15 +63,15 @@ void testItRepeats() {
           controllerSim.getRumble(RumbleType.kLeftRumble),
           kDelta,
           "controller should vibrate at index: " + i);
-      Timer.delay(kWaitTime + 0.1);
+      SimHooks.stepTiming(kWaitTime + 0.1);
       commandScheduler.run();
       commandScheduler.run();
       assertEquals(
           0,
           controllerSim.getRumble(RumbleType.kLeftRumble),
           kDelta,
           "controller should stop vibrating at index: " + i);
-      Timer.delay(kWaitTime + 0.1);
+      SimHooks.stepTiming(kWaitTime + 0.1);
       commandScheduler.run();
       commandScheduler.run();
     }

diff --git a/src/test/java/command_tests/simple_command_tests/LEDWaitingCommandTest.java b/src/test/java/command_tests/simple_command_tests/LEDWaitingCommandTest.java
@@ -5,6 +5,7 @@
 
 import command_tests.utils.CommandTestBase;
 import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.simulation.SimHooks;
 import frc.robot.commands.led_commands.LEDLoadingWaitCommand;
 import org.junit.jupiter.api.AfterEach;
 import org.junit.jupiter.api.BeforeEach;
@@ -29,7 +30,7 @@ public void 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);
+      SimHooks.stepTiming(i);
       commandScheduler.run();
       testAtTime(ledSubsystem, startTime, waitTime);
     }
@@ -57,7 +58,7 @@ void itActuallyEnds() {
         false,
         ledLoadingWaitCommand.isFinished(),
         "led wait command shouldn't finish before wait time");
-    Timer.delay(kWaitTime); // just in case add a little bit extra time
+    SimHooks.stepTiming(kWaitTime);
     assertEquals(
         true, ledLoadingWaitCommand.isFinished(), "led wait command should finish after wait time");
   }

diff --git a/src/test/java/command_tests/simple_command_tests/WaitANDConditionCommandTest.java b/src/test/java/command_tests/simple_command_tests/WaitANDConditionCommandTest.java
@@ -4,7 +4,7 @@
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import command_tests.utils.CommandTestBase;
-import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.simulation.SimHooks;
 import frc.robot.commands.WaitANDConditionCommand;
 import org.junit.jupiter.api.AfterEach;
 import org.junit.jupiter.api.BeforeEach;
@@ -43,7 +43,7 @@ void testItCompletesOnCondition() {
   @Test
   void testItCompletesAfterTime() {
     commandScheduler.run();
-    Timer.delay(kWaitTime);
+    SimHooks.stepTiming(kWaitTime);
     commandScheduler.run();
     assertFalse(
         waitConditionCommand.isFinished(),
@@ -54,7 +54,7 @@ void testItCompletesAfterTime() {
   void testItFinishesAfterAll() {
     commandScheduler.run();
     condition = true;
-    Timer.delay(kWaitTime);
+    SimHooks.stepTiming(kWaitTime);
     commandScheduler.run();
     assertTrue(waitConditionCommand.isFinished(), "Command should finish after time and condition");
   }