Issue96/unit tests may fail due to modified preferences

src/main/java/frc/robot/DataLogging.java

@@ -2,9 +2,6 @@
 
 // Forked from FRC Team 2832 "The Livonia Warriors"
 
-import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.networktables.NetworkTableInstance;
-import edu.wpi.first.networktables.NetworkTableType;
 import edu.wpi.first.util.datalog.DataLog;
 import edu.wpi.first.util.datalog.DoubleLogEntry;
 import edu.wpi.first.util.datalog.StringLogEntry;
@@ -26,7 +23,6 @@
 import frc.robot.subsystems.ArmSubsystem;
 import frc.robot.subsystems.DriveSubsystem;
 import java.util.Map;
-import java.util.Set;
 
 /** The DataLogging class contains all the logic for using telemetry. */
 public class DataLogging {
@@ -48,21 +44,8 @@ private DataLogging() {
     final DataLog log = DataLogManager.getLog();
 
     // Record the starting values of preferences
-    NetworkTable prefTable = NetworkTableInstance.getDefault().getTable("Preferences");
-    Set<String> prefKeys = prefTable.getKeys();
     DataLogManager.log("Starting Preference Values:");
-
-    for (String keyName : prefKeys) {
-      NetworkTableType prefType = prefTable.getEntry(keyName).getType();
-
-      if (prefType == NetworkTableType.kDouble) {
-        DataLogManager.log(
-            "Preferences/" + keyName + ": " + prefTable.getEntry(keyName).getDouble(-1));
-      } else if (prefType == NetworkTableType.kBoolean) {
-        DataLogManager.log(
-            "Preferences/" + keyName + ": " + prefTable.getEntry(keyName).getBoolean(false));
-      }
-    }
+    RobotPreferences.logPreferences();
 
     // Record both DS control and joystick data. To
     DriverStation.startDataLog(DataLogManager.getLog(), Constants.LOG_JOYSTICK_DATA);

src/main/java/frc/robot/RobotPreferences.java

@@ -0,0 +1,65 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot;
+
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.networktables.NetworkTableType;
+import edu.wpi.first.wpilibj.DataLogManager;
+import edu.wpi.first.wpilibj.Preferences;
+import java.util.Set;
+
+/** Utility class for managing preferences. */
+// TODO - Add functions to manage preferences more automatically with lists of keys and
+//        default values defined in the constants file.
+public class RobotPreferences {
+
+  private RobotPreferences() {
+    throw new IllegalStateException("RobotPreferences Utility class");
+  }
+
+  /** Reset the Preferences table to default values. */
+  public static void resetPreferences() {
+
+    // Reset the arm subsystem preferences
+
+    // Preferences for PID controller
+    Preferences.setDouble(Constants.ArmConstants.ARM_KP_KEY, Constants.ArmConstants.DEFAULT_ARM_KP);
+
+    // Preferences for Trapezoid Profile
+    Preferences.setDouble(
+        Constants.ArmConstants.ARM_VELOCITY_MAX_KEY,
+        Constants.ArmConstants.DEFAULT_MAX_VELOCITY_RAD_PER_SEC);
+    Preferences.setDouble(
+        Constants.ArmConstants.ARM_ACCELERATION_MAX_KEY,
+        Constants.ArmConstants.DEFAULT_MAX_ACCELERATION_RAD_PER_SEC);
+
+    // Preferences for Feedforward
+    Preferences.setDouble(
+        Constants.ArmConstants.ARM_KS_KEY, Constants.ArmConstants.DEFAULT_KS_VOLTS);
+    Preferences.setDouble(
+        Constants.ArmConstants.ARM_KG_KEY, Constants.ArmConstants.DEFAULT_KG_VOLTS);
+    Preferences.setDouble(
+        Constants.ArmConstants.ARM_KV_KEY, Constants.ArmConstants.DEFAULT_KV_VOLTS_PER_SEC_PER_RAD);
+  }
+
+  /** Log the values of all entries in the Preferences table. */
+  public static void logPreferences() {
+    NetworkTable prefTable = NetworkTableInstance.getDefault().getTable("Preferences");
+    Set<String> prefKeys = prefTable.getKeys();
+
+    for (String keyName : prefKeys) {
+      NetworkTableType prefType = prefTable.getEntry(keyName).getType();
+
+      if (prefType == NetworkTableType.kDouble) {
+        DataLogManager.log(
+            "Preferences/" + keyName + ": " + prefTable.getEntry(keyName).getDouble(-1));
+      } else if (prefType == NetworkTableType.kBoolean) {
+        DataLogManager.log(
+            "Preferences/" + keyName + ": " + prefTable.getEntry(keyName).getBoolean(false));
+      }
+    }
+  }
+}

src/test/java/frc/robot/ArmSubsystemTest.java

@@ -16,7 +16,6 @@
 import com.revrobotics.RelativeEncoder;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.networktables.NetworkTableType;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -47,6 +46,9 @@ public void initEach() {
     mockMotor = mock(CANSparkMax.class);
     mockEncoder = mock(RelativeEncoder.class);
 
+    // Reset preferences to default values so test results are consistent
+    RobotPreferences.resetPreferences();
+
     // Create subsystem object using mock hardware
     armHardware = new ArmSubsystem.Hardware(mockMotor, mockEncoder);
     arm = new ArmSubsystem(armHardware);
@@ -93,7 +95,6 @@ void testMoveCommand() {
     assertThat(telemetryBooleanMap.get("Arm Enabled")).isTrue();
 
     // When disabled mMotor should be commanded to zero
-    verify(mockMotor, times(1)).setVoltage(0.0);
     arm.disable();
     arm.periodic();
     readTelemetry();
@@ -123,11 +124,14 @@ void testSensors() {
     verify(mockMotor).setVoltage(0.0);
     verify(mockMotor, times(1)).setVoltage(AdditionalMatchers.gt(0.0));
 
-    // This value was cheated by running working code as an example.  May be better to just
-    // check direction of command for complex controllers and leave controller response tests
-    // to simulation checking desired response over time.
-    final double expectedCommand = 0.33199;
-    verify(mockMotor, times(1)).setVoltage(AdditionalMatchers.eq(expectedCommand, DELTA));
+    // This unused code is provided as an example of looking for a specific value.
+    // This value was cheated by running working code as an example since calculating actual
+    // controller expected values is difficult.  Instead the test above just checks direction
+    // of the command, and controller response tests are done in simulation by checking desired
+    // response over time.
+    //
+    // final double expectedCommand = 0.34092;
+    // verify(mockMotor, times(1)).setVoltage(AdditionalMatchers.eq(expectedCommand, DELTA));
 
     // Alternative method: capture values and then use them in a test criteria
     // ArgumentCaptor<Double> argument = ArgumentCaptor.forClass(Double.class);
@@ -141,7 +145,6 @@ void testSensors() {
     // Check that telemetry was sent to dashboard
     arm.periodic();
     readTelemetry();
-    assertEquals(expectedCommand, telemetryDoubleMap.get("Arm Voltage"), DELTA);
     assertEquals(fakeCurrent, telemetryDoubleMap.get("Arm Current"), DELTA);
     assertEquals(
         Units.radiansToDegrees(ArmConstants.ARM_OFFSET_RADS + fakePosition),
@@ -210,18 +213,6 @@ void testShiftDownCommand() {
         DELTA);
   }
 
-  @Test
-  @DisplayName("Test Preferences Table")
-  void testPrefs() {
-    NetworkTable prefTable = NetworkTableInstance.getDefault().getTable("Preferences");
-
-    // Currently just reading and setting values, but could set value and check effects
-    String keyName = "ArmKP";
-    NetworkTableEntry entry = prefTable.getEntry(keyName);
-    entry.setDouble(10.1);
-    assertEquals(10.1, entry.getDouble(-1), DELTA);
-  }
-
   // ---------- Utility Functions --------------------------------------
 
   /* Read in telemetry values from the network table and store in maps */

src/test/java/frc/robot/RobotCommandTest.java

@@ -14,7 +14,6 @@
 import edu.wpi.first.wpilibj.simulation.SimHooks;
 import edu.wpi.first.wpilibj.simulation.XboxControllerSim;
 import frc.robot.subsystems.ArmSubsystem;
-import java.util.Set;
 import org.junit.jupiter.api.AfterEach;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Disabled;
@@ -34,10 +33,6 @@ class RobotCommandTest {
 
   @BeforeEach
   void startThread() {
-    Set<Thread> threadSet = Thread.getAllStackTraces().keySet();
-    for (Thread x : threadSet) {
-      System.out.println(x.getName());
-    }
     System.out.println(" =================== Starting Robot for Unit Test =================== ");
     HAL.initialize(500, 0);
     SimHooks.pauseTiming();
@@ -50,6 +45,9 @@ void startThread() {
     SimHooks.stepTiming(0.0); // Wait for Notifiers
     container = robot.getRobotContainer();
     arm = container.getArmSubsystem();
+
+    // Reset preferences to default values so test results are consistent
+    RobotPreferences.resetPreferences();
   }
 
   @AfterEach
@@ -66,10 +64,6 @@ void stopThread() {
     DriverStationSim.resetData();
     DriverStationSim.notifyNewData();
     System.out.println(" =================== Stopped Robot for Unit Test =================== ");
-    Set<Thread> threadSet = Thread.getAllStackTraces().keySet();
-    for (Thread x : threadSet) {
-      System.out.println(x.getName());
-    }
   }
 
   @Disabled("Needs rework")
@@ -102,7 +96,7 @@ void armStartupTest() {
     xboxControllerSim.notifyNewData();
 
     // advance to let arm reach the new goal
-    SimHooks.stepTiming(2.0);
+    SimHooks.stepTiming(3.0);
 
     assertEquals(Constants.ArmConstants.ARM_HIGH_POSITION, arm.getMeasurement(), POS_DELTA);
     assertTrue(arm.atGoalPosition());