Merge pull request #21 from truher/main

fix the build
Team100 · Jan 31, 2025 · bec549f · bec549f
2 parents 961e376 + 2356538
commit bec549f
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Showing 7 changed files with 11 additions and 3 deletions.
diff --git a/comp/src/test/java/org/team100/frc2025/Timeless2024.java b/comp/src/test/java/org/team100/frc2025/Timeless2024.java
@@ -2,6 +2,7 @@
 
 import org.junit.jupiter.api.AfterEach;
 import org.junit.jupiter.api.BeforeEach;
+import org.team100.lib.util.Memo;
 import org.team100.lib.util.Takt;
 
 import edu.wpi.first.hal.HAL;
@@ -25,6 +26,8 @@ default void resumeTiming() {
     default void stepTime(double t) {
         SimHooks.stepTiming(t);
         Takt.update();
+        Memo.resetAll();
+        Memo.updateAll();
     }
 
 }
diff --git a/lib/src/main/java/org/team100/lib/encoder/SimulatedRotaryPositionSensor.java b/lib/src/main/java/org/team100/lib/encoder/SimulatedRotaryPositionSensor.java
@@ -37,6 +37,7 @@ public OptionalDouble getPositionRad() {
         OptionalDouble velocityRad_S = m_mechanism.getVelocityRad_S();
         if (velocityRad_S.isEmpty())
             return OptionalDouble.empty();
+        System.out.println("velocity " + velocityRad_S);
         m_positionRad += velocityRad_S.getAsDouble() * dtS;
         m_positionRad = MathUtil.angleModulus(m_positionRad);
         m_timeS = nowS;

diff --git a/lib/src/main/java/org/team100/lib/motor/SimulatedBareMotor.java b/lib/src/main/java/org/team100/lib/motor/SimulatedBareMotor.java
@@ -24,6 +24,7 @@ public SimulatedBareMotor(LoggerFactory parent, double freeSpeedRad_S) {
 
     @Override
     public void setDutyCycle(double dutyCycle) {
+        System.out.println("duty cycle " + dutyCycle);
         final double output = MathUtil.clamp(
                 Util.notNaN(dutyCycle), -1, 1);
         m_log_duty.log(() -> output);

diff --git a/lib/src/test/java/org/team100/lib/commands/drivetrain/for_testing/OscillateDirectTest.java b/lib/src/test/java/org/team100/lib/commands/drivetrain/for_testing/OscillateDirectTest.java
@@ -17,7 +17,7 @@ void testPosition() {
         assertEquals(0, fixture.drive.getState().x().x(), kDelta);
 
         // half wave is 2 seconds
-        for (int i = 0; i < 100; ++i) {
+        for (int i = 0; i < 101; ++i) {
             stepTime(0.02);
             od.execute();
             fixture.drive.periodic();

diff --git a/...test/java/org/team100/lib/commands/drivetrain/for_testing/OscillateFieldRelativeTest.java b/...test/java/org/team100/lib/commands/drivetrain/for_testing/OscillateFieldRelativeTest.java
@@ -17,7 +17,7 @@ void testPosition() {
         assertEquals(0, fixture.drive.getState().x().x(), kDelta);
 
         // half wave is 2 seconds
-        for (int i = 0; i < 100; ++i) {
+        for (int i = 0; i < 101; ++i) {
             stepTime(0.02);
             od.execute();
             fixture.drive.periodic();

diff --git a/lib/src/test/java/org/team100/lib/commands/drivetrain/for_testing/OscillateTest.java b/lib/src/test/java/org/team100/lib/commands/drivetrain/for_testing/OscillateTest.java
@@ -17,7 +17,7 @@ void testPosition() {
         assertEquals(0, fixture.drive.getState().x().x(), kDelta);
 
         // half wave is 2 seconds
-        for (int i = 0; i < 100; ++i) {
+        for (int i = 0; i < 101; ++i) {
             stepTime(0.02);
             od.execute();
             fixture.drive.periodic();

diff --git a/lib/src/test/java/org/team100/lib/testing/Timeless.java b/lib/src/test/java/org/team100/lib/testing/Timeless.java
@@ -2,6 +2,7 @@
 
 import org.junit.jupiter.api.AfterEach;
 import org.junit.jupiter.api.BeforeEach;
+import org.team100.lib.util.Memo;
 import org.team100.lib.util.Takt;
 
 import edu.wpi.first.hal.HAL;
@@ -29,6 +30,8 @@ default void resumeTiming() {
     default void stepTime(double t) {
         SimHooks.stepTiming(t);
         Takt.update();
+        Memo.resetAll();
+        Memo.updateAll();
     }
 
 }