Merge pull request #20 from truher/main

fix the build
Team100 · Jan 31, 2025 · 961e376 · 961e376
2 parents 70401ad + c58a7a5
commit 961e376
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Showing 3 changed files with 4 additions and 2 deletions.
diff --git a/lib/src/main/java/org/team100/lib/sensors/SimulatedGyro.java b/lib/src/main/java/org/team100/lib/sensors/SimulatedGyro.java
@@ -34,6 +34,7 @@ public Rotation2d getYawNWU() {
         double now = Takt.get();
         double dt = now - m_time;
         m_heading += speeds.omegaRadiansPerSecond * dt;
+        // System.out.println(m_heading);
         m_time = now;
         return new Rotation2d(m_heading);
     }

diff --git a/lib/src/test/java/org/team100/lib/motion/arm/ArmSubsystemTest.java b/lib/src/test/java/org/team100/lib/motion/arm/ArmSubsystemTest.java
@@ -21,9 +21,9 @@ void testSimple() {
         assertEquals(0, armSubSystem.getPosition().get().th2, kDelta);
 
         for (int i = 0; i < 100; ++i) {
+            armSubSystem.set(1, 1);
             stepTime(0.02);
             // since i took out the limits this just spins
-            armSubSystem.set(1, 1);
             // you have to call getPosition on the simulated sensor for it to do the integraiton.
             armSubSystem.getPosition();
             ArmAngles angles = armSubSystem.getPosition().get();

diff --git a/lib/src/test/java/org/team100/lib/sensors/SimulatedHeadingTest.java b/lib/src/test/java/org/team100/lib/sensors/SimulatedHeadingTest.java
@@ -107,6 +107,7 @@ void testHolonomic() {
             // get the modules pointing the right way (wait for the steering profiles)
             c.setDesiredStates(states);
             stepTime(0.02);
+            h.getYawNWU();
         }
         SwerveModuleStates states2 = c.states();
 
@@ -116,7 +117,7 @@ void testHolonomic() {
         assertEquals(0.802, states2.rearLeft().speedMetersPerSecond, kDelta);
         assertEquals(1.281, states2.rearRight().speedMetersPerSecond, kDelta);
         assertEquals(0.279, states2.frontLeft().angle.get().getRadians(), kDelta);
-        assertEquals(0.170, states2.frontRight().angle.get().getRadians(), kDelta);
+        assertEquals(0.17, states2.frontRight().angle.get().getRadians(), 0.01);
         assertEquals(-0.363, states2.rearLeft().angle.get().getRadians(), kDelta);
         assertEquals(-0.224, states2.rearRight().angle.get().getRadians(), kDelta);