Fix python tests

CrossTheRoadElec · May 29, 2024 · ff806b7 · ff806b7
1 parent 18d8095
commit ff806b7
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Showing 8 changed files with 18 additions and 13 deletions.
diff --git a/cpp/BasicLatencyCompensation/src/main/cpp/Robot.cpp b/cpp/BasicLatencyCompensation/src/main/cpp/Robot.cpp
@@ -4,6 +4,8 @@
 
 #include "Robot.h"
 
+using namespace ctre::phoenix6;
+
 void Robot::RobotInit() {}
 void Robot::RobotPeriodic() {
   /* Perform basic latency compensation based on latency and current derivative */

diff --git a/java/CANcoder/src/main/java/frc/robot/Robot.java b/java/CANcoder/src/main/java/frc/robot/Robot.java
@@ -4,6 +4,7 @@
 
 package frc.robot;
 
+import com.ctre.phoenix6.BaseStatusSignal;
 import com.ctre.phoenix6.configs.CANcoderConfiguration;
 import com.ctre.phoenix6.controls.DutyCycleOut;
 import com.ctre.phoenix6.hardware.CANcoder;

diff --git a/java/CurrentLimits/src/test/java/CurrentLimitTests.java b/java/CurrentLimits/src/test/java/CurrentLimitTests.java
@@ -107,7 +107,7 @@ public void testSupplyLimit() {
         /* Put the talon in a stall, which should produce a lot of current */
         talon.setControl(new DutyCycleOut(1));
         /* wait for the control to apply */
-        Timer.delay(0.050);
+        Timer.delay(0.100);
 
         /* Get the next update for supply current */
         supplyCurrent.waitForUpdate(1);

diff --git a/java/FusedCANcoder/src/main/java/frc/robot/Mechanisms.java b/java/FusedCANcoder/src/main/java/frc/robot/Mechanisms.java
@@ -1,5 +1,6 @@
 package frc.robot;
 
+import com.ctre.phoenix6.BaseStatusSignal;
 import com.ctre.phoenix6.StatusSignal;
 
 import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d;

diff --git a/java/Pigeon2/src/main/java/frc/robot/Robot.java b/java/Pigeon2/src/main/java/frc/robot/Robot.java
@@ -4,6 +4,7 @@
 
 package frc.robot;
 
+import com.ctre.phoenix6.BaseStatusSignal;
 import com.ctre.phoenix6.configs.Pigeon2Configuration;
 import com.ctre.phoenix6.controls.DutyCycleOut;
 import com.ctre.phoenix6.hardware.Pigeon2;

diff --git a/python/MotionMagic/tests/pyfrc_test.py b/python/MotionMagic/tests/pyfrc_test.py
@@ -25,7 +25,7 @@ def assert_almost_equal(a: float, b: float, range_val: float):
 def wait_with_sim(time: float, fx: hardware.TalonFX, dcmotorsim: DCMotorSim):
     start_time = 0
     while start_time < time:
-        feed_enable(LOOP_PERIOD * 2)
+        feed_enable(0.1)
         start_time += LOOP_PERIOD
 
         dcmotorsim.setInputVoltage(fx.sim_state.motor_voltage)
@@ -59,7 +59,7 @@ def test_position_closed_loop():
     assert talonfx.set_position(FIRST_SET).is_ok()
 
     pos.wait_for_update(1)
-    assert_almost_equal(pos.value, 0, 0.01)
+    assert_almost_equal(pos.value, 0, 0.02)
 
     # Closed loop for 1 seconds to a target of 1 rotation, and verify we're close
     target_control = controls.MotionMagicVoltage(position=1.0)
@@ -69,4 +69,4 @@ def test_position_closed_loop():
 
     # Verify position is close to target
     pos.wait_for_update(1)
-    assert_almost_equal(pos.value, 1, 0.01)
+    assert_almost_equal(pos.value, 1, 0.02)
diff --git a/python/PositionClosedLoop/tests/pyfrc_test.py b/python/PositionClosedLoop/tests/pyfrc_test.py
@@ -25,7 +25,7 @@ def assert_almost_equal(a: float, b: float, range_val: float):
 def wait_with_sim(time: float, fx: hardware.TalonFX, dcmotorsim: DCMotorSim):
     start_time = 0
     while start_time < time:
-        feed_enable(LOOP_PERIOD * 2)
+        feed_enable(0.1)
         start_time += LOOP_PERIOD
 
         dcmotorsim.setInputVoltage(fx.sim_state.motor_voltage)
@@ -37,7 +37,7 @@ def wait_with_sim(time: float, fx: hardware.TalonFX, dcmotorsim: DCMotorSim):
 
 def test_position_closed_loop():
     talonfx = hardware.TalonFX(1, "sim")
-    motorsim = DCMotorSim(DCMotor.falcon500FOC(1), 1.0, 0.001)
+    motorsim = DCMotorSim(DCMotor.krakenX60FOC(1), 1.0, 0.001)
     pos = talonfx.get_position()
 
     talonfx.sim_state.set_raw_rotor_position(radiansToRotations(motorsim.getAngularPosition()))
@@ -51,7 +51,7 @@ def test_position_closed_loop():
     assert talonfx.set_position(FIRST_SET).is_ok()
 
     pos.wait_for_update(1)
-    assert_almost_equal(pos.value, 0, 0.01)
+    assert_almost_equal(pos.value, 0, 0.02)
 
     # Closed loop for 1 seconds to a target of 1 rotation, and verify we're close
     target_control = controls.PositionVoltage(position=1.0)
@@ -61,4 +61,4 @@ def test_position_closed_loop():
 
     # Verify position is close to target
     pos.wait_for_update(1)
-    assert_almost_equal(pos.value, 1, 0.01)
+    assert_almost_equal(pos.value, 1, 0.02)
diff --git a/python/VelocityClosedLoop/tests/pyfrc_test.py b/python/VelocityClosedLoop/tests/pyfrc_test.py
@@ -22,7 +22,7 @@ def assert_almost_equal(a: float, b: float, range_val: float):
 def wait_with_sim(time: float, fx: hardware.TalonFX, dcmotorsim: DCMotorSim):
     start_time = 0
     while start_time < time:
-        feed_enable(LOOP_PERIOD * 2)
+        feed_enable(0.1)
         start_time += LOOP_PERIOD
 
         dcmotorsim.setInputVoltage(fx.sim_state.motor_voltage)
@@ -32,8 +32,8 @@ def wait_with_sim(time: float, fx: hardware.TalonFX, dcmotorsim: DCMotorSim):
 
         sleep(LOOP_PERIOD)
 
-def test_position_closed_loop():
-    talonfx = hardware.TalonFX(1, "sim")
+def test_velocity_closed_loop():
+    talonfx = hardware.TalonFX(0, "sim")
     motorsim = DCMotorSim(DCMotor.krakenX60FOC(1), 1.0, 0.001)
     vel = talonfx.get_velocity()
 
@@ -49,7 +49,7 @@ def test_position_closed_loop():
     assert talonfx.configurator.apply(cfg).is_ok()
 
     vel.wait_for_update(1)
-    assert_almost_equal(vel.value, 0, 0.1)
+    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)
@@ -59,4 +59,4 @@ def test_position_closed_loop():
 
     # Verify velocity is close to target
     vel.wait_for_update(1)
-    assert_almost_equal(vel.value, 1, 0.1)
+    assert_almost_equal(vel.value, 10, 0.2)