Sorter controls unit test

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LimeLightAutoBlue.java

@@ -38,7 +38,7 @@ public void runOpMode() {
         launch = new LaunchControls(hardwareMap);
         motors = new MotorConstructor(hardwareMap);
         limelightCont = new LimelightControls(hardwareMap);
-        sorter = new SorterControls(motors);
+        sorter = new SorterControls(hardwareMap);
         waitForStart();
 
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LimeLightAutoBlueTEST.java

@@ -36,7 +36,7 @@ public void runOpMode() {
         launch = new LaunchControls(hardwareMap);
         motors = new MotorConstructor(hardwareMap);
         limelightCont = new LimelightControls(hardwareMap);
-        sorter = new SorterControls(motors);
+        sorter = new SorterControls(hardwareMap);
         telemetry.addLine("Initialized. Waiting for start...");
         telemetry.update();
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LimeLightAutoRed.java

@@ -36,7 +36,7 @@ public void runOpMode() {
         launch = new LaunchControls(hardwareMap);
         motors = new MotorConstructor(hardwareMap);
         limelightCont = new LimelightControls(hardwareMap);
-        sorter = new SorterControls(motors);
+        sorter = new SorterControls(hardwareMap);
         telemetry.addLine("Initialized. Waiting for start...");
         telemetry.update();
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TeleOpMain.java

@@ -54,7 +54,7 @@ public void runOpMode() {
         drive = new DriveControls(hardwareMap);
         launch = new LaunchControls(hardwareMap);
         motors = new MotorConstructor(hardwareMap);
-        sorter = new SorterControls(motors);
+        sorter = new SorterControls(hardwareMap);
         intake = new IntakeControls(hardwareMap);
 
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Utils_13233/SorterControls.java

@@ -1,6 +1,7 @@
 package org.firstinspires.ftc.teamcode.Utils_13233;
 
 import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.HardwareMap;
 
 
 public class SorterControls {
@@ -24,16 +25,16 @@ public class SorterControls {
     // Motor Speed
     float motorSpeed = 1.0f;
 
-    public SorterControls(MotorConstructor motors) {
-        this.motors = motors;
+    public SorterControls(HardwareMap hardwareMap) {
+        this.motors = new MotorConstructor(hardwareMap);
     }
 
     /**
      * Move the sorter to a position to intake from
      *
      * @param pos Enum to determine what positon to move to
      */
-    private void moveToIntakePos(intakePos pos) {
+    public void moveToIntakePos(intakePos pos) {
         switch (pos) {
             case INTAKE_POS_1:
                 motors.Sorter.setTargetPosition(intakePos1);
@@ -59,7 +60,7 @@ private void moveToIntakePos(intakePos pos) {
      *
      * @param pos Enum to determine what positon to move to
      */
-    private void moveToLaunchPos(launchPos pos) {
+    public void moveToLaunchPos(launchPos pos) {
         switch (pos) {
             case LAUNCH_POS_1:
                 motors.Sorter.setTargetPosition(LaunchPos1);

TeamCode/src/test/java/org/firstinspires/ftc/teamcode/SorterControlsTest.java

@@ -0,0 +1,262 @@
+package org.firstinspires.ftc.teamcode;
+
+import static org.junit.jupiter.api.Assertions.assertThrows;
+import static org.mockito.Mockito.verify;
+
+import com.qualcomm.robotcore.hardware.DcMotor;
+
+import org.firstinspires.ftc.teamcode.Utils_13233.SorterControls;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.DisplayName;
+import org.junit.jupiter.api.Test;
+
+public class SorterControlsTest {
+    public SorterControls sorter;
+
+    MockMotorUtil mockMotor = new MockMotorUtil();
+
+    @BeforeEach
+    void motorSetup() {
+        mockMotor.setUp();
+        sorter = new SorterControls(mockMotor.hardwareMap);
+    }
+
+
+    // Test Move to intake position
+    @DisplayName("should set the sorter to the intake position 1")
+    @Test
+    void testMoveToIntakePos_pos1() {
+        sorter.moveToIntakePos(SorterControls.intakePos.INTAKE_POS_1);
+
+        verify(mockMotor.Sorter).setTargetPosition(sorter.intakePos1);
+    }
+
+    @DisplayName("should set the sorter to the intake position 2")
+    @Test
+    void testMoveToIntakePos_pos2() {
+        sorter.moveToIntakePos(SorterControls.intakePos.INTAKE_POS_2);
+
+        verify(mockMotor.Sorter).setTargetPosition(sorter.intakePos2);
+    }
+
+    @DisplayName("should set the sorter to the intake position 3")
+    @Test
+    void testMoveToIntakePos_pos3() {
+        sorter.moveToIntakePos(SorterControls.intakePos.INTAKE_POS_3);
+
+        verify(mockMotor.Sorter).setTargetPosition(sorter.intakePos3);
+    }
+
+
+    // Test Move to launch position
+    @DisplayName("should set the sorter to the launch position 1")
+    @Test
+    void testMoveToLaunchPos_pos1() {
+        sorter.moveToLaunchPos(SorterControls.launchPos.LAUNCH_POS_1);
+
+        verify(mockMotor.Sorter).setTargetPosition(sorter.LaunchPos1);
+    }
+
+    @DisplayName("should set the sorter to the launch position 2")
+    @Test
+    void testMoveToLaunchPos_pos2() {
+        sorter.moveToLaunchPos(SorterControls.launchPos.LAUNCH_POS_2);
+
+        verify(mockMotor.Sorter).setTargetPosition(sorter.LaunchPos2);
+    }
+
+    @DisplayName("should set the sorter to the launch position 3")
+    @Test
+    void testMoveToLaunchPos_pos3() {
+        sorter.moveToLaunchPos(SorterControls.launchPos.LAUNCH_POS_3);
+
+        verify(mockMotor.Sorter).setTargetPosition(sorter.LaunchPos3);
+    }
+
+
+    // Test Move to sorter position
+    @DisplayName("should set the sorter to the intake position 1")
+    @Test
+    void testMoveSorterToPos_intake_pos1() {
+        sorter.moveSorterToPos(SorterControls.sorterModes.INTAKE, 1);
+
+        verify(mockMotor.Sorter).setTargetPosition(sorter.intakePos1);
+    }
+
+    // Test Move to sorter position
+    @DisplayName("should set the sorter to the intake position 2")
+    @Test
+    void testMoveSorterToPos_intake_pos2() {
+        sorter.moveSorterToPos(SorterControls.sorterModes.INTAKE, 2);
+
+        verify(mockMotor.Sorter).setTargetPosition(sorter.intakePos2);
+    }
+
+    // Test Move to sorter position
+    @DisplayName("should set the sorter to the intake position 3")
+    @Test
+    void testMoveSorterToPos_intake_pos3() {
+        sorter.moveSorterToPos(SorterControls.sorterModes.INTAKE, 3);
+
+        verify(mockMotor.Sorter).setTargetPosition(sorter.intakePos3);
+    }
+
+    @DisplayName("should throw a runtime exception")
+    @Test
+    void testMoveSorterToPos_intake_runtimeException() {
+        assertThrows(RuntimeException.class, () -> {
+            sorter.moveSorterToPos(SorterControls.sorterModes.INTAKE, 4);
+        });
+    }
+
+    @DisplayName("should set the sorter to the intake position 1")
+    @Test
+    void testMoveSorterToPos_launch_pos1() {
+        sorter.moveSorterToPos(SorterControls.sorterModes.LAUNCH, 1);
+
+        verify(mockMotor.Sorter).setTargetPosition(sorter.LaunchPos1);
+    }
+
+    // Test Move to sorter position
+    @DisplayName("should set the sorter to the intake position 2")
+    @Test
+    void testMoveSorterToPos_launch_pos2() {
+        sorter.moveSorterToPos(SorterControls.sorterModes.LAUNCH, 2);
+
+        verify(mockMotor.Sorter).setTargetPosition(sorter.LaunchPos2);
+    }
+
+    // Test Move to sorter position
+    @DisplayName("should set the sorter to the intake position 3")
+    @Test
+    void testMoveSorterToPos_launch_pos3() {
+        sorter.moveSorterToPos(SorterControls.sorterModes.LAUNCH, 3);
+
+        verify(mockMotor.Sorter).setTargetPosition(sorter.LaunchPos3);
+    }
+
+    @DisplayName("should throw a runtime exception")
+    @Test
+    void testMoveSorterToPos_launch_runtimeException() {
+        assertThrows(RuntimeException.class, () -> {
+            sorter.moveSorterToPos(SorterControls.sorterModes.LAUNCH, 4);
+        });
+    }
+
+    @DisplayName("should set the sorter to the intake position 1")
+    @Test
+    void testMoveSimpleSorterToPos_intake_pos1() {
+        sorter.simpleSorterPosition(true, false,
+            false, SorterControls.sorterModes.INTAKE);
+
+        verify(mockMotor.Sorter).setTargetPosition(sorter.intakePos1);
+    }
+
+    @DisplayName("should set the sorter to the intake position 1")
+    @Test
+    void testMoveSimpleSorterToPos_intake_pos2() {
+        sorter.simpleSorterPosition(false, true,
+            false, SorterControls.sorterModes.INTAKE);
+
+        verify(mockMotor.Sorter).setTargetPosition(sorter.intakePos2);
+    }
+
+    @DisplayName("should set the sorter to the intake position 1")
+    @Test
+    void testMoveSimpleSorterToPos_intake_pos3() {
+        sorter.simpleSorterPosition(false, false,
+            true, SorterControls.sorterModes.INTAKE);
+
+        verify(mockMotor.Sorter).setTargetPosition(sorter.intakePos3);
+    }
+
+    @DisplayName("should set the sorter to the intake position 1")
+    @Test
+    void testMoveSimpleSorterToPos_launch_pos1() {
+        sorter.simpleSorterPosition(true, false,
+            false, SorterControls.sorterModes.LAUNCH);
+
+        verify(mockMotor.Sorter).setTargetPosition(sorter.LaunchPos1);
+    }
+
+    @DisplayName("should set the sorter to the intake position 1")
+    @Test
+    void testMoveSimpleSorterToPos_launch_pos2() {
+        sorter.simpleSorterPosition(false, true,
+            false, SorterControls.sorterModes.LAUNCH);
+
+        verify(mockMotor.Sorter).setTargetPosition(sorter.LaunchPos2);
+    }
+
+    @DisplayName("should set the sorter to the intake position 1")
+    @Test
+    void testMoveSimpleSorterToPos_launch_pos3() {
+        sorter.simpleSorterPosition(false, false,
+            true, SorterControls.sorterModes.LAUNCH);
+
+        verify(mockMotor.Sorter).setTargetPosition(sorter.LaunchPos3);
+    }
+
+    @DisplayName("should set the sorter to the launch position 1")
+    @Test
+    void testMoveGreenToLaunchPos_1() {
+        sorter.currentSorterStates[0] = SorterControls.ballColors.GREEN;
+
+        sorter.moveGreenToLaunchPos();
+
+        verify(mockMotor.Sorter).setTargetPosition(sorter.LaunchPos1);
+    }
+
+    @DisplayName("should set the sorter to the launch position 1")
+    @Test
+    void testMoveGreenToLaunchPos_2() {
+        sorter.currentSorterStates[1] = SorterControls.ballColors.GREEN;
+
+        sorter.moveGreenToLaunchPos();
+
+        verify(mockMotor.Sorter).setTargetPosition(sorter.LaunchPos2);
+    }
+
+    @DisplayName("should set the sorter to the launch position 1")
+    @Test
+    void testMoveGreenToLaunchPos_3() {
+        sorter.currentSorterStates[2] = SorterControls.ballColors.GREEN;
+
+        sorter.moveGreenToLaunchPos();
+
+        verify(mockMotor.Sorter).setTargetPosition(sorter.LaunchPos3);
+    }
+
+    @DisplayName("should set the sorter to the launch position 1")
+    @Test
+    void testMovePurpleToLaunchPos_1() {
+        sorter.currentSorterStates[0] = SorterControls.ballColors.PURPLE;
+
+        sorter.moveToPurpleLaunchPos();
+
+        verify(mockMotor.Sorter).setTargetPosition(sorter.LaunchPos1);
+    }
+
+    @DisplayName("should set the sorter to the launch position 1")
+    @Test
+    void testMovePurpleToLaunchPos_2() {
+        sorter.currentSorterStates[1] = SorterControls.ballColors.PURPLE;
+
+        sorter.moveToPurpleLaunchPos();
+
+        verify(mockMotor.Sorter).setTargetPosition(sorter.LaunchPos2);
+    }
+
+    @DisplayName("should set the sorter to the launch position 1")
+    @Test
+    void testMovePurpleToLaunchPos_3() {
+        sorter.currentSorterStates[0] = SorterControls.ballColors.NULL;
+        sorter.currentSorterStates[1] = SorterControls.ballColors.NULL;
+        sorter.currentSorterStates[2] = SorterControls.ballColors.PURPLE;
+
+        sorter.moveToPurpleLaunchPos();
+
+        verify(mockMotor.Sorter).setTargetPosition(sorter.LaunchPos3);
+    }
+}
+