Change TimeTest to only print

KangarooKoala · Oct 10, 2024 · 48aa875 · 48aa875
1 parent 6250d50
commit 48aa875
Showing 1 changed file with 1 addition and 62 deletions.
diff --git a/wpimath/src/test/native/cpp/TimeTest.cpp b/wpimath/src/test/native/cpp/TimeTest.cpp
@@ -136,66 +136,5 @@ void TimeSuite(
 }
 
 TEST(TimeTest, Time) {
-  {
-    wpi::print("Initializing odometry\n");
-    frc::DifferentialDriveOdometry odometry{frc::Rotation2d{}, 0_m, 0_m,
-                                            frc::Pose2d{}};
-    wpi::print("Initializing other values\n");
-    frc::Rotation2d gyroAngle{};
-    auto leftDistance = 0_m;
-    auto rightDistance = 0_m;
-    wpi::print("Running time suite\n");
-    TimeSuite(
-        "Odometry update (2d)",
-        [&] { odometry.Update(gyroAngle, leftDistance, rightDistance); },
-        [&] {
-          odometry.ResetPosition(frc::Rotation2d{}, 0_m, 0_m, frc::Pose2d{});
-        });
-  }
-
-  {
-    frc::DifferentialDriveOdometry3d odometry{frc::Rotation3d{}, 0_m, 0_m,
-                                              frc::Pose3d{}};
-    frc::Rotation3d gyroAngle{};
-    auto leftDistance = 0_m;
-    auto rightDistance = 0_m;
-    TimeSuite(
-        "Odometry update (3d)",
-        [&] { odometry.Update(gyroAngle, leftDistance, rightDistance); },
-        [&] {
-          odometry.ResetPosition(frc::Rotation3d{}, 0_m, 0_m, frc::Pose3d{});
-        });
-  }
-
-  {
-    frc::DifferentialDriveKinematics kinematics{1_m};
-    frc::DifferentialDrivePoseEstimator poseEstimator{
-        kinematics, frc::Rotation2d{}, 0_m, 0_m, frc::Pose2d{}};
-    frc::Rotation2d gyroAngle{};
-    auto leftDistance = 0_m;
-    auto rightDistance = 0_m;
-    TimeSuite(
-        "Pose estimator update (2d)",
-        [&] { poseEstimator.Update(gyroAngle, leftDistance, rightDistance); },
-        [&] {
-          poseEstimator.ResetPosition(frc::Rotation2d{}, 0_m, 0_m,
-                                      frc::Pose2d{});
-        });
-  }
-
-  {
-    frc::DifferentialDriveKinematics kinematics{1_m};
-    frc::DifferentialDrivePoseEstimator3d poseEstimator{
-        kinematics, frc::Rotation3d{}, 0_m, 0_m, frc::Pose3d{}};
-    frc::Rotation3d gyroAngle{};
-    auto leftDistance = 0_m;
-    auto rightDistance = 0_m;
-    TimeSuite(
-        "Pose estimator update (3d)",
-        [&] { poseEstimator.Update(gyroAngle, leftDistance, rightDistance); },
-        [&] {
-          poseEstimator.ResetPosition(frc::Rotation3d{}, 0_m, 0_m,
-                                      frc::Pose3d{});
-        });
-  }
+  wpi::print("Hello?\n");
 }