Better Intake Unit Tests

[danielbrownmsm]

Better Intake Unit Tests

Summary The drivetrain subsystem has decent unit tests covering a range of functions. The intake currently only tests initialization. It should test more.

Work Required

• add unit test for setting intake power
• add unit test for setting indexer power
• add unit test for setting intake position
• add unit test for getting intake position
• add unit test (this is the hard/complicated one) for verifying intake position logic (ie it starts raised, then tell it to deploy, verify motor output, tell it that it’s deployed, verify output, tell it to retract, verify output, tell it it’s retracted, verify output)

Verification

• CI passes
• Unit tests cover the list of functions listed in work required above
• Code is sufficiently commented and documented

[danielbrownmsm]

Intake does not currently have a GetExtended or IsExtended function because I wasn't sure if it should be based off of the encoder or the limit switch. Also, a simple boolean like that is helpful, but the intake has more than just "am I extended or not." I suppose the whole list of states would be something like:

• initial state (somewhere around retracted, but not officially/completely known
• extending
• extended
• retracting
• fully retracted And you can't just tell that from a single IsExtended. So I think I'll make an IsRetracted and IsExtended, and test both. Although this all kind of gets tested in the IntakePositionTest.