Test kit module

Package: com.crossbotics.ftchelper.testkit

Learn it hands-on: 13 Testing. Guide: Testing procedures.

Pretend motors, servos and switches for JUnit tests on a laptop: your Robot.java (the robot in five files) runs on them instead of the real hardware. A test sets the robot up (INIT), presses START, runs a loop, and checks what each motor and servo was sent. No robot, no Control Hub: a test takes a second, so you can run them after every change.

Class	Use it to
PretendDevices	give your robot pretend devices instead of the hardwareMap
PretendMotor	read the power sent, set the encoder
PretendServo	read the position sent
PretendCRServo	read the power sent to a CR servo
PretendPinpoint	a goBILDA Pinpoint that says the robot is where the test puts it
PretendTelemetry	read what the Driver Station would show

Why in the library: a team’s tests (in TeamCode/src/test) can use it with no extra Gradle lines (only JUnit, tutorial 13). It is a few small classes; nothing in it runs on the robot unless a test makes it.

PretendDevices

PretendDevices devices = new PretendDevices();   // a fresh pretend robot
Robot robot = new Robot();
robot.setup(devices);                            // INIT (Tunables.java as written; INIT's checks run)
robot.startForTests();                           // START
robot.lift.goTo("high");
robot.all().update();                            // one loop
assertTrue(devices.motor("lift").power > 0);     // the lift motor got power up
devices.motor("lift").position = 2400;           // the pretend encoder: at the top
devices.press("lift_bottom", true);              // a pretend switch pressed

Method	What it does
new PretendDevices()	a pretend configuration where every name asked for exists. It also forgets what the library keeps between programs (tuned numbers in memory, a turret’s last angle, a launcher’s last trim, autonomous’s alliance: RobotDefinition.freshRobotApp()), uses an empty temporary settings file, and makes motors read their pretend encoder every time (no 3 ms reuse): each test starts like a robot just turned on
motor(name), servo(name), crServo(name), pinpoint(name)	the pretend device with that name (made now if needed)
press(name, pressed)	press or let go of a pretend switch (a touch sensor, or a magnetic switch on a digital port)
analog(name, volts, maxVolts)	a pretend analog input (an absolute encoder)
notConfigured(names...)	these names are NOT in the configuration (test an optional() part, or checkConfiguration)
battery(volts)	the battery the hubs read
get, tryGet, has	what the robot asks (Devices). A kind the kit has no pretend one for (a camera, a color sensor) counts as not plugged in: parts that can do without it warn and go on

With the robot: robot.setup(devices) (INIT), robot.startForTests() (START), robot.all().update() (one loop), robot.pauseAll() / robot.resume() (BACK), robot.all().stop() (STOP), robot.checkTunables() (the Tunables name checks, no devices needed). See RobotDefinition.

What it cannot do: move anything. A pretend motor’s encoder stays where your test puts it, time does not pass by itself (an action’s waitSeconds never ends in a test), and there is no camera picture. For that, use the simulator (a scenario file is a test too).

PretendMotor, PretendServo, PretendCRServo

Plain fields your test reads and sets:

Class	Fields
PretendMotor	power (last sent), position (the encoder: set it), velocity, currentAmps, direction, zeroPower, mode, powerWrites, maxAbsPower, failSetPower (true: setPower throws, like an unplugged motor), motor (the SDK DcMotorEx)
PretendServo	position (last sent; NaN = never), writes, direction, pulseUs (set by .fullRange()), servo (the SDK Servo)
PretendCRServo	power, writes, direction, servo (the SDK CRServo)

PretendPinpoint

A robot with odometry(Odometry.pinpoint("pinpoint")) gets one at INIT. It never moves by itself:

devices.pinpoint("pinpoint").moveTo(10, 0, 90);   // the device's own frame: x forward, y left (inches), degrees
robot.all().update();                             // robot.pose() now has it (from the start spot)

Member	What it is
x, y, headingDeg	where the device says it is (its own frame, inches and degrees)
moveTo(x, y, headingDeg)	sets all three

PretendTelemetry

PretendTelemetry screen = new PretendTelemetry();
RobotTelemetry t = new RobotTelemetry(screen.telemetry);
robot.all().addTelemetry(t);
t.update();
assertTrue(screen.has("Lift : high"));

Member	What it is
telemetry	the SDK Telemetry to hand over
lastScreen	the last screen sent, one line per entry ("Lift : high 900 ticks", "!! warning")
has(words)	true if a line of the last screen contains them
updates	how many screens were sent