[#99] Fix system test syntax to comply with #120

src/main/java/frc/robot/RobotContainer.java

@@ -31,6 +31,7 @@
 import frc.robot.command.TipDetection;
 import frc.robot.command.Shoot;
 import frc.robot.command.tests.DrivetrainSystemTest;
+import frc.robot.command.tests.ShooterSystemTest;
 import frc.robot.command.tests.TurnSystemTest;
 import frc.robot.command.tests.testCommands.TurnTest;
 import frc.robot.command.ChasePieces;
@@ -172,5 +173,7 @@ protected void configureFaultMonitors() {
 	protected void configureSystemTests() {
 		SystemTest.registerTest("Drive Test", new DrivetrainSystemTest(drivetrain, brake, DrivetrainConstants.SYS_TEST_SPEED_DRIVE));
 		SystemTest.registerTest("Azimuth Test", new TurnSystemTest(drivetrain, brake, DrivetrainConstants.SYS_TEST_SPEED_TURN));
+
+		// SystemTest.registerTest("Shooter Test", new ShooterSystemTest(shooter, flywheel, collector, indexer, pivot));
 	}
 }

src/main/java/frc/robot/command/tests/ShooterSystemTest.java

@@ -0,0 +1,54 @@
+// 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.command.tests;
+
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
+import frc.robot.command.tests.testCommands.CollectorTest;
+import frc.robot.command.tests.testCommands.FlywheelTest;
+import frc.robot.command.tests.testCommands.IndexerTest;
+import frc.robot.command.tests.testCommands.PivotTest;
+import frc.robot.subsystems.Collector;
+import frc.robot.subsystems.Flywheel;
+import frc.robot.subsystems.Indexer;
+import frc.robot.subsystems.Pivot;
+import frc.robot.subsystems.Shooter;
+import frc.thunder.command.TimedCommand;
+import frc.thunder.testing.SystemTestCommandGroup;
+
+public class ShooterSystemTest extends SystemTestCommandGroup {
+
+  public ShooterSystemTest(Shooter shooter, Flywheel flywheel, Collector collector, Indexer indexer, Pivot pivot, double speed) {
+    super(
+      new SequentialCommandGroup(
+        new WaitCommand(0.5),
+        new TimedCommand(new FlywheelTest(flywheel, speed, 0), 2), // Motor 1 out
+        new WaitCommand(1),
+        new TimedCommand(new FlywheelTest(flywheel, -speed, 0), 2), // Motor 1 in
+        new WaitCommand(1),
+        new TimedCommand(new FlywheelTest(flywheel, 0, speed), 2), // Motor 2 out
+        new WaitCommand(1),
+        new TimedCommand(new FlywheelTest(flywheel, 0, -speed), 2), // Motor 2 in
+        new WaitCommand(1),
+        new TimedCommand(new FlywheelTest(flywheel, speed, speed), 2), // Both out
+        new WaitCommand(1),
+        new TimedCommand(new FlywheelTest(flywheel, -speed, -speed), 2), // Both in
+        new WaitCommand(1),
+        new TimedCommand(new PivotTest(pivot, speed), 2), // Pivot up
+        new WaitCommand(1),
+        new TimedCommand(new PivotTest(pivot, -speed), 2), // Pivot down
+        new WaitCommand(1),
+        new TimedCommand(new IndexerTest(indexer, speed), 2), // Indexer out
+        new WaitCommand(1),
+        new TimedCommand(new IndexerTest(indexer, -speed), 2), // Indexer in
+        new WaitCommand(1),
+        new TimedCommand(new CollectorTest(collector, speed), 2), // Collector out
+        new WaitCommand(1),
+        new TimedCommand(new CollectorTest(collector, -speed), 2) // Collector in
+      )
+    );
+  }
+
+}

src/main/java/frc/robot/command/tests/CollectorTest.java → src/main/java/frc/robot/command/tests/testCommands/CollectorTest.java

@@ -2,41 +2,39 @@
 // 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.command.tests;
+package frc.robot.command.tests.testCommands;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Collector;
 
 public class CollectorTest extends Command {
-  Collector collector;
+
+  private Collector collector;
   private double power;
-  /** Creates a new CollectorTest. */
+
   public CollectorTest(Collector collector, double power) {
     this.collector = collector;
     this.power = power;
-    // Use addRequirements() here to declare subsystem dependencies.
+
     addRequirements(collector);
   }
 
-  // Called when the command is initially scheduled.
   @Override
   public void initialize() {
     collector.setPower(power);
   }
 
-  // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {}
 
-  // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
     collector.setPower(0);
   }
 
-  // Returns true when the command should end.
   @Override
   public boolean isFinished() {
     return false;
   }
+
 }

src/main/java/frc/robot/command/tests/FlywheelTest.java → src/main/java/frc/robot/command/tests/testCommands/FlywheelTest.java

@@ -2,17 +2,17 @@
 // 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.command.tests;
+package frc.robot.command.tests.testCommands;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Flywheel;
 
 public class FlywheelTest extends Command {
+
   private Flywheel flywheel;
   private double motor2Speed;
   private double motor1Speed;
 
-  /** Creates a new ShootTest. */
   public FlywheelTest(Flywheel flywheel, double motor1Speed, double motor2Speed) {
     this.flywheel = flywheel;
     this.motor1Speed = motor1Speed;
@@ -21,27 +21,23 @@ public FlywheelTest(Flywheel flywheel, double motor1Speed, double motor2Speed) {
     addRequirements(flywheel);
   }
 
-  // Called when the command is initially scheduled.
   @Override
   public void initialize() {
     flywheel.setMoter1RPM(motor1Speed);
     flywheel.setMoter1RPM(motor2Speed);
-
   }
 
-  // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {}
 
-  // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
     flywheel.setAllMotorsRPM(0);
   }
 
-  // Returns true when the command should end.
   @Override
   public boolean isFinished() {
     return false;
   }
+
 }

src/main/java/frc/robot/command/tests/IndexerTest.java → src/main/java/frc/robot/command/tests/testCommands/IndexerTest.java

@@ -2,42 +2,39 @@
 // 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.command.tests;
+package frc.robot.command.tests.testCommands;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Indexer;
 
 public class IndexerTest extends Command {
+
   private Indexer indexer;
   private double power;
 
-  /** Creates a new IndexerTest. */
   public IndexerTest(Indexer indexer, double power) {
     this.indexer = indexer;
     this.power = power;
-    // Use addRequirements() here to declare subsystem dependencies.
-  addRequirements(indexer);
+
+    addRequirements(indexer);
   }
 
-  // Called when the command is initially scheduled.
   @Override
   public void initialize() {
     indexer.setPower(power);
   }
 
-  // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {}
 
-  // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
     indexer.setPower(0);
   }
 
-  // Returns true when the command should end.
   @Override
   public boolean isFinished() {
     return false;
   }
+
 }

src/main/java/frc/robot/command/tests/PivotTest.java → src/main/java/frc/robot/command/tests/testCommands/PivotTest.java

@@ -2,40 +2,37 @@
 // 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.command.tests;
+package frc.robot.command.tests.testCommands;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Pivot;
 
 public class PivotTest extends Command {
+
   private Pivot pivot;
   private double angle;
 
-  /** Creates a new PivotTest. */
   public PivotTest(Pivot pivot, double angle) {
     this.pivot = pivot;
     this.angle = angle;
-    // Use addRequirements() here to declare subsystem dependencies.
+
     addRequirements(pivot);
   }
 
-  // Called when the command is initially scheduled.
   @Override
   public void initialize() {
     pivot.setTargetAngle(angle);
   }
 
-  // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {}
 
-  // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {}
 
-  // Returns true when the command should end.
   @Override
   public boolean isFinished() {
     return false;
   }
+
 }