def test_shoot_boulder(control):
ba = BoulderAutomation()
ba.intake = MagicMock()
ba.shooter = MagicMock()
ba.shooter.up_to_speed = MagicMock(return_value=True)
setup_tunables(ba, "boulder_automation")
def _on_step(tm, step):
if step == 1:
ba.shoot_boulder()
assert ba.current_state == "pre_fire"
elif step == 2:
# Requires a step for the test for up_to_speed to return true
assert ba.shooter.shoot.called
elif step <= 20:
assert ba.current_state == "firing"
assert ba.is_executing
assert ba.intake.intake.called
if step > 30: # Should inject ball for around 25 steps - 0.5s
assert not ba.is_executing
assert ba.intake.stop.called
assert ba.shooter.stop.called
if step == 40:
return False
ba.execute() # Magicbot normally does this for us
return True
c = StepController(control, _on_step)
control.run_test(c)
assert c.step == 40
def test_shoot_boulder(control):
ba = BoulderAutomation()
ba.intake = MagicMock()
ba.shooter = MagicMock()
ba.shooter.up_to_speed = MagicMock(return_value=True)
setup_tunables(ba, "boulder_automation")
def _on_step(tm, step):
if step == 1:
ba.shoot_boulder()
assert ba.current_state == "pre_fire"
elif step == 2:
# Requires a step for the test for up_to_speed to return true
assert ba.shooter.shoot.called
elif step <= 20:
assert ba.current_state == "firing"
assert ba.is_executing
assert ba.intake.intake.called
if step > 30: # Should inject ball for around 25 steps - 0.5s
assert not ba.is_executing
assert ba.intake.stop.called
assert ba.shooter.stop.called
if step == 40:
return False
ba.execute() # Magicbot normally does this for us
return True
c = StepController(control, _on_step)
control.run_test(c)
assert c.step == 40
def test_backdrive_manual():
ba = BoulderAutomation()
ba.intake = MagicMock()
ba.shooter = MagicMock()
setup_tunables(ba, "boulder_automation")
ba.engage("backdrive_manual")
ba.execute()
assert ba.intake.backdrive_slow.called
assert ba.shooter.backdrive_recovery.called
ba.done()
def test_backdrive_manual():
ba = BoulderAutomation()
ba.intake = MagicMock()
ba.shooter = MagicMock()
setup_tunables(ba, "boulder_automation")
ba.engage("backdrive_manual")
ba.execute()
assert ba.intake.backdrive_slow.called
assert ba.shooter.backdrive_recovery.called
ba.done()
def test_intake_boulder(control):
ba = BoulderAutomation()
ba.intake = MagicMock()
ba.shooter = MagicMock()
ba.intake.up_to_speed = MagicMock(return_value=True)
ba.intake.ball_detected = MagicMock(return_value=True)
ba.intake.slowing = MagicMock(return_value=True)
ba.intake.pinned = MagicMock(return_value=True)
setup_tunables(ba, "boulder_automation")
def _on_step(tm, step):
if step == 1:
ba.intake_boulder()
assert ba.current_state == "pre_intake"
elif step == 2:
assert ba.intake.intake.called
assert ba.current_state == "intaking"
elif step == 3:
pass
elif step <= 29:
assert ba.shooter.backdrive.called
assert ba.current_state == "intaking_contact"
elif step == 30:
assert ba.current_state == "pinning"
elif step == 31:
assert ba.shooter.backdrive.called
assert ba.intake.backdrive_pin.called
assert ba.current_state == "pinned"
elif step == 32:
assert not ba.current_state
else:
return False
ba.execute() # Magicbot normally does this for us
return True
c = StepController(control, _on_step)
control.run_test(c)
assert c.step == 33
def test_intake_boulder(control):
ba = BoulderAutomation()
ba.intake = MagicMock()
ba.shooter = MagicMock()
ba.intake.up_to_speed = MagicMock(return_value=True)
ba.intake.ball_detected = MagicMock(return_value=True)
ba.intake.slowing = MagicMock(return_value=True)
ba.intake.pinned = MagicMock(return_value=True)
setup_tunables(ba, "boulder_automation")
def _on_step(tm, step):
if step == 1:
ba.intake_boulder()
assert ba.current_state == "pre_intake"
elif step == 2:
assert ba.intake.intake.called
assert ba.current_state == "intaking"
elif step == 3:
pass
elif step <= 29:
assert ba.shooter.backdrive.called
assert ba.current_state == "intaking_contact"
elif step == 30:
assert ba.current_state == "pinning"
elif step == 31:
assert ba.shooter.backdrive.called
assert ba.intake.backdrive_pin.called
assert ba.current_state == "pinned"
elif step == 32:
assert not ba.current_state
else:
return False
ba.execute() # Magicbot normally does this for us
return True
c = StepController(control, _on_step)
control.run_test(c)
assert c.step == 33
def test_toggle_shoot_boulder():
ba = BoulderAutomation()
ba.intake = MagicMock()
ba.shooter = MagicMock()
setup_tunables(ba, "boulder_automation")
assert not ba.current_state
ba.toggle_shoot_boulder()
ba.execute()
assert ba.current_state
ba.toggle_shoot_boulder()
ba.execute()
assert not ba.current_state
def test_toggle_shoot_boulder():
ba = BoulderAutomation()
ba.intake = MagicMock()
ba.shooter = MagicMock()
setup_tunables(ba, "boulder_automation")
assert not ba.current_state
ba.toggle_shoot_boulder()
ba.execute()
assert ba.current_state
ba.toggle_shoot_boulder()
ba.execute()
assert not ba.current_state
