Remove python VelocityClosedLoop tests

python/VelocityClosedLoop/tests/pyfrc_test.py

@@ -3,66 +3,4 @@
     to test basic functionality of just about any robot.
 '''
 
-from time import sleep
-from robot import MyRobot
-
 from pyfrc.tests import *
-from phoenix6 import hardware, configs, controls
-from phoenix6.unmanaged import feed_enable
-from wpilib.simulation import DCMotorSim
-from wpimath.system.plant import DCMotor
-from wpimath.units import radiansToRotations
-
-def assert_almost_equal(a: float, b: float, range_val: float):
-    """
-    Assert that a is within range of b
-    """
-    assert a >= (b - range_val) and a <= (b + range_val)
-
-# PID loop means we should be kinda fast, let's target 10ms
-LOOP_PERIOD = 0.01
-def wait_with_sim(time: float, fx: hardware.TalonFX, dcmotorsim: DCMotorSim):
-    feed_enable(0.2)
-    sleep(0.1)
-
-    start_time = 0
-    while start_time < time:
-        feed_enable(0.1)
-        start_time += LOOP_PERIOD
-
-        dcmotorsim.setInputVoltage(fx.sim_state.motor_voltage)
-        dcmotorsim.update(LOOP_PERIOD)
-        fx.sim_state.set_raw_rotor_position(radiansToRotations(dcmotorsim.getAngularPosition()))
-        fx.sim_state.set_rotor_velocity(radiansToRotations(dcmotorsim.getAngularVelocity()))
-
-        sleep(LOOP_PERIOD)
-
-def test_velocity_closed_loop(control, robot: MyRobot):
-    with control.run_robot():
-        talonfx = robot.talonfx
-        motorsim = DCMotorSim(DCMotor.krakenX60FOC(1), 1.0, 0.001)
-        vel = talonfx.get_velocity()
-
-        talonfx.sim_state.set_raw_rotor_position(radiansToRotations(motorsim.getAngularPosition()))
-        talonfx.sim_state.set_rotor_velocity(radiansToRotations(motorsim.getAngularVelocity()))
-        talonfx.sim_state.set_supply_voltage(12)
-
-        cfg = configs.TalonFXConfiguration()
-        cfg.slot0.k_v = 0.12
-        cfg.slot0.k_p = 0.11
-        cfg.slot0.k_i = 0
-        cfg.slot0.k_d = 0
-        assert talonfx.configurator.apply(cfg).is_ok()
-
-        vel.wait_for_update(1)
-        assert_almost_equal(vel.value, 0, 0.2)
-
-        # Closed loop for 1 second to a target of 10 rps, and verify we're close
-        target_control = controls.VelocityVoltage(velocity=10)
-        talonfx.set_control(target_control)
-
-        wait_with_sim(2, talonfx, motorsim)
-
-        # Verify velocity is close to target
-        vel.wait_for_update(1)
-        assert_almost_equal(vel.value, 10, 0.2)