Some work on the basic test again, but it's still not there

robotpy · Jan 5, 2015 · d7f8109 · d7f8109
1 parent ce083d6
commit d7f8109
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Showing 2 changed files with 10 additions and 17 deletions.
diff --git a/samples/sample/tests/basic_test.py b/samples/sample/tests/basic_test.py
@@ -23,23 +23,17 @@ def test_autonomous(control, fake_time, robot):
 
     # run autonomous mode for 10 seconds
     control.set_autonomous(enabled=True)
-    control.on_step = lambda tm: tm < 10
+    control.run_test(lambda tm: tm < 15)
 
-    robot.robotInit()
-    robot.autonomous()
-
-    # make sure autonomous mode ran for 10 seconds
-    assert int(fake_time.get()) == 10
+    # make sure autonomous mode ran for 15 seconds
+    assert int(fake_time.get()) == 15
 
 
 def test_disabled(control, fake_time, robot):
 
     # run disabled mode for 5 seconds
     control.set_autonomous(enabled=False)
-    control.on_step = lambda tm: tm < 5
-
-    robot.robotInit()
-    robot.disabled()
+    control.run_test(lambda tm: tm < 5)
 
     # make sure disabled mode ran for 5 seconds
     assert int(fake_time.get()) == 5
@@ -66,13 +60,17 @@ def on_step(self, tm):
                 use assert to check a motor value, you have to check to see that
                 it matches the previous value that you set on the inputs, not the
                 current value.
+                
+                :param tm: The current robot time in seconds
             '''
             self.loop_count += 1
             #print(self.loop_count)
             #print("STEP", tm)
             #print("MOO", hal_data['joysticks'][1]['axes'][1])
 
             # motor value is equal to the previous value of the stick
+            # -> Note that the PWM value isn't exact, because it was converted to
+            #    a raw PWM value and then back to -1 to 1
             assert abs(hal_data['pwm'][8]['value'] - self.stick_prev) < 0.1
 
             # set the stick value based on time
@@ -82,10 +80,5 @@ def on_step(self, tm):
             return not self.loop_count == 1000
 
     control.set_operator_control(enabled=True)
-    control.on_step = TestController
-
-    robot.robotInit()
-    robot.operatorControl()
-
-    # do something like assert the motor == stick value
+    control.run_test(TestController)
 
diff --git a/samples/sample/tests/pyfrc_test.py b/samples/sample/tests/pyfrc_test.py
@@ -3,4 +3,4 @@
     to test basic functionality of just about any robot.
 '''
 
-from pyfrc.tests.sample_robot import *
+from pyfrc.tests import *