fixed one test case...

Team766 · Nov 22, 2023 · dec3fa8 · dec3fa8
1 parent 08f3f74
commit dec3fa8
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Showing 2 changed files with 21 additions and 18 deletions.
diff --git a/src/main/java/com/team766/ViSIONbase/AutomaticShooterPowerCalibration.java b/src/main/java/com/team766/ViSIONbase/AutomaticShooterPowerCalibration.java
@@ -24,6 +24,7 @@ public class AutomaticShooterPowerCalibration {
     private double latestDistance = -1;
     private double lastDistance = 0;
 
+    private boolean first = true;
 
 
     public AutomaticShooterPowerCalibration(int tagId) {
@@ -58,9 +59,8 @@ public double shootAndCalculate() {
         double power = 0;
 
         if(powersTried.size() == 0){
-            if(powersWork.size() <= 1){
                 power = Math.random();
-            }else{
+
                 //Find a value near the current distance in the distancesWork array
                 //Then compute a new value for power according to what works
                 double closestOnMin = distancesWork.get(0);
@@ -86,7 +86,7 @@ public double shootAndCalculate() {
                 double differenceFromMin = distance - closestOnMin;
 
                 power = powersWork.get(indexMin) + (differenceFromMin / difference) * powerDifference;
-            }
+
         } else {
             if(powersTried.size() == 1){
                 if(wasTooLong.get(0)){
@@ -149,13 +149,8 @@ public double shootAndCalculate(double givenDistance) {
 
         double power = 0;
 
-        if(powersTried.size() == 0){
-            if(powersWork.size() <= 1){
-                power = Math.random();
-            }else{
-                //Find a value near the current distance in the distancesWork array
-                //Then compute a new value for power according to what works
-                double closestOnMin = distancesWork.get(0);
+        if(first && distancesWork.size() > 2){
+            double closestOnMin = distancesWork.get(0);
                 double closestOnMax = distancesWork.get(0);
 
                 int indexMin = 0;
@@ -178,7 +173,13 @@ public double shootAndCalculate(double givenDistance) {
                 double differenceFromMin = distance - closestOnMin;
 
                 power = powersWork.get(indexMin) + (differenceFromMin / difference) * powerDifference;
-            }
+
+                powersTried.add(power);
+                return power;
+        }
+
+        if(powersTried.size() == 0){
+            power = Math.random();
         } else {
             if(powersTried.size() == 1){
                 if(wasTooLong.get(0)){
@@ -225,7 +226,7 @@ public double shootAndCalculate(double givenDistance) {
 
         }
         powersTried.add(power);
-        Robot.shooter.shoot(power); //TODO: Make sure this runs for ample time so ball can actually be shot
+        // commented for tests Robot.shooter.shoot(power); //TODO: Make sure this runs for ample time so ball can actually be shot
 
 
         return power;

diff --git a/src/test/java/com/team766/shooter/ShooterTestCase.java b/src/test/java/com/team766/shooter/ShooterTestCase.java
@@ -1,5 +1,6 @@
 package com.team766.shooter;
 
+import static org.junit.Assert.*;
 import java.io.File;
 import java.io.FileNotFoundException;
 import java.util.ArrayList;
@@ -13,19 +14,20 @@
 
 import edu.wpi.first.wpilibj.Filesystem;
 
-public abstract class ShooterTestCase extends junit.framework.TestCase {
 
-	ArrayList<Double> distancesToTest = new ArrayList<Double>();
-	ArrayList<Double> powersThatWork = new ArrayList<Double>();
+public class ShooterTestCase{
 
-	AutomaticShooterPowerCalibration calibration;
+	static ArrayList<Double> distancesToTest = new ArrayList<Double>();
+	static ArrayList<Double> powersThatWork = new ArrayList<Double>();
+
+	static AutomaticShooterPowerCalibration calibration;
 	Scanner input;
 
 	//@Rule
   	//public ExpectedException exception = ExpectedException.none();
 
 	@BeforeAll
-	public void setUp() throws Exception {
+	public static void setUp() throws Exception {
 
 
 		calibration = new AutomaticShooterPowerCalibration(3);
@@ -94,7 +96,7 @@ protected void isCorrect(){
 		for(int i = 0; i < ((distancesToTest.size() * 2) - 1); i+=2){
 			double distance = input.nextDouble();
 
-			assertEquals("Distances tested need to equal each other", distancesToTest.get(i), distance);
+			assertEquals("Distances tested need to equal each other", (double)distancesToTest.get(i), distance);
 
 			double power = input.nextDouble();
 			System.out.println(power);