Fix tests

CrossTheRoadElec · May 29, 2024 · 1cbe9f1 · 1cbe9f1
1 parent 79b30ce
commit 1cbe9f1
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Showing 3 changed files with 12 additions and 3 deletions.
diff --git a/python/MotionMagic/tests/pyfrc_test.py b/python/MotionMagic/tests/pyfrc_test.py
@@ -23,6 +23,9 @@ def assert_almost_equal(a: float, b: float, range_val: float):
 # 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)
@@ -65,7 +68,7 @@ def test_position_closed_loop():
     target_control = controls.MotionMagicVoltage(position=1.0)
     talonfx.set_control(target_control)
 
-    wait_with_sim(1, talonfx, motorsim)
+    wait_with_sim(2, talonfx, motorsim)
 
     # Verify position is close to target
     pos.wait_for_update(1)

diff --git a/python/PositionClosedLoop/tests/pyfrc_test.py b/python/PositionClosedLoop/tests/pyfrc_test.py
@@ -23,6 +23,9 @@ def assert_almost_equal(a: float, b: float, range_val: float):
 # 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)
@@ -57,7 +60,7 @@ def test_position_closed_loop():
     target_control = controls.PositionVoltage(position=1.0)
     talonfx.set_control(target_control)
 
-    wait_with_sim(1, talonfx, motorsim)
+    wait_with_sim(2, talonfx, motorsim)
 
     # Verify position is close to target
     pos.wait_for_update(1)

diff --git a/python/VelocityClosedLoop/tests/pyfrc_test.py b/python/VelocityClosedLoop/tests/pyfrc_test.py
@@ -20,6 +20,9 @@ def assert_almost_equal(a: float, b: float, range_val: float):
 # 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)
@@ -55,7 +58,7 @@ def test_velocity_closed_loop():
     target_control = controls.VelocityVoltage(velocity=10)
     talonfx.set_control(target_control)
 
-    wait_with_sim(1, talonfx, motorsim)
+    wait_with_sim(2, talonfx, motorsim)
 
     # Verify velocity is close to target
     vel.wait_for_update(1)