@Test
public void testMaintainer() {
Collector front = RobotContext.Get().getCollectionCore().getFrontCollector();
OICore oi = this.context.GetOICore();
RollerListenerWorker worker = new RollerListenerWorker(front, "Front");
worker.init();
oi.setRollerShouldExpel(false);
oi.setRollerShouldIntake(false);
worker.exec();
assertEquals(
"Collector roller power should be zero", 0, front.getCollectorRollerMotor(), 0.001);
oi.setRollerShouldIntake(true);
oi.setRollerShouldExpel(false);
worker.exec();
assertTrue(
"Collector roller powre should be be above zero", front.getCollectorRollerMotor() > 0);
oi.setRollerShouldIntake(false);
oi.setRollerShouldExpel(true);
worker.exec();
assertTrue(
"Collector roller powre should be be above zero", front.getCollectorRollerMotor() < 0);
oi.setRollerShouldIntake(true);
oi.setRollerShouldExpel(true);
worker.exec();
assertEquals(
"Collector roller power should be zero", 0, front.getCollectorRollerMotor(), 0.001);
}
@Test
public void failureWhenNotSafe() {
collector.getSensors().SetScaledPositionTESTONLY(0);
assertEquals(ExecState.FAILURE, worker.isFinished());
}
@Test
public void successWhenAlreadySafe() {
collector.getSensors().SetScaledPositionTESTONLY(1.0);
assertEquals(ExecState.SUCCESS, worker.isFinished());
}
@Test
public void successWhenManual() {
collector.setIsManual(true);
assertEquals(ExecState.SUCCESS, worker.isFinished());
}
@Before
public void setUp() {
collector.setIsManual(false);
worker = new IsArmSafeToFireWorker(collector);
}