Update Intake to take in Motor

Author: kcooney

src/main/java/com/team2813/subsystems/Intake.java

@@ -6,7 +6,7 @@
 import com.ctre.phoenix6.configs.TalonFXConfigurator;
 import com.ctre.phoenix6.configs.VoltageConfigs;
 import com.team2813.lib2813.control.InvertType;
-import com.team2813.lib2813.control.PIDMotor;
+import com.team2813.lib2813.control.Motor;
 import com.team2813.lib2813.control.motors.TalonFXWrapper;
 import com.team2813.lib2813.subsystems.ParameterizedIntakeSubsystem;
 import com.team2813.lib2813.util.ConfigUtils;
@@ -31,7 +31,7 @@ public Intake(NetworkTableInstance networkTableInstance) {
         networkTableInstance);
   }
 
-  Intake(PIDMotor motor, DigitalInput beamBreak, NetworkTableInstance networkTableInstance) {
+  Intake(Motor motor, DigitalInput beamBreak, NetworkTableInstance networkTableInstance) {
     super(motor, PARAMS);
     this.beamBreak = beamBreak;
     if (motor instanceof TalonFXWrapper wrapper) {

src/test/java/com/team2813/subsystems/IntakeTest.java

@@ -3,49 +3,49 @@
 import static com.google.common.truth.Truth.assertThat;
 import static com.team2813.subsystems.Intake.BUMP_VOLTAGE;
 import static org.mockito.Mockito.mock;
-import static org.mockito.Mockito.verifyNoInteractions;
 import static org.mockito.Mockito.when;
 
 import com.team2813.IsolatedNetworkTablesExtension;
-import com.team2813.lib2813.testing.FakePIDMotor;
+import com.team2813.lib2813.testing.FakeMotor;
 import com.team2813.lib2813.testing.junit.jupiter.CommandTester;
 import com.team2813.lib2813.testing.junit.jupiter.WPILibExtension;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.units.Units;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.Command;
 import org.junit.jupiter.api.Test;
 import org.junit.jupiter.api.extension.ExtendWith;
-import org.mockito.Answers;
 
 @ExtendWith({IsolatedNetworkTablesExtension.class, WPILibExtension.class})
 public final class IntakeTest {
-  final FakePIDMotor fakeMotor = mock(FakePIDMotor.class, Answers.CALLS_REAL_METHODS);
+  final FakeMotor fakeMotor = new FakeMotor();
   final DigitalInput mockBeamBreak = mock(DigitalInput.class);
 
   @Test
   public void constructRealInstance(NetworkTableInstance ntInstance) {
     try (Intake ignored = new Intake(ntInstance)) {
-      assertThat(fakeMotor.demand).isWithin(0.01).of(0.0);
+      assertThat(fakeMotor.getDemand()).isWithin(0.01).of(0.0);
     }
   }
 
   @Test
   public void initialState(NetworkTableInstance ntInstance) {
     try (Intake ignored = new Intake(fakeMotor, mockBeamBreak, ntInstance)) {
-      assertThat(fakeMotor.demand).isWithin(0.01).of(0.0);
-      verifyNoInteractions(fakeMotor);
+      assertThat(fakeMotor.getDemand()).isWithin(0.01).of(0.0);
     }
   }
 
   @Test
   public void intakeCoral(NetworkTableInstance ntInstance, CommandTester commandTester) {
     try (Intake intake = new Intake(fakeMotor, mockBeamBreak, ntInstance)) {
       Command command = intake.intakeItemCommand();
-      assertThat(fakeMotor.demand).isWithin(0.01).of(0.0);
+      assertThat(fakeMotor.getDemand()).isWithin(0.01).of(0.0);
 
       commandTester.runUntilComplete(command);
 
-      assertThat(fakeMotor.getVoltage()).isWithin(0.01).of(Intake.PARAMS.intakeDemand());
+      assertThat(fakeMotor.getMotorVoltage().in(Units.Volts))
+          .isWithin(0.01)
+          .of(Intake.PARAMS.intakeDemand());
     }
   }
 
@@ -78,7 +78,9 @@ public void outtakeCoral(NetworkTableInstance ntInstance, CommandTester commandT
 
       commandTester.runUntilComplete(command);
       assertMotorIsRunning();
-      assertThat(fakeMotor.getVoltage()).isWithin(0.01).of(Intake.PARAMS.outtakeDemand());
+      assertThat(fakeMotor.getMotorVoltage().in(Units.Volts))
+          .isWithin(0.01)
+          .of(Intake.PARAMS.outtakeDemand());
     }
   }
 
@@ -114,7 +116,7 @@ public void bumpAlgae(NetworkTableInstance ntInstance, CommandTester commandTest
 
       commandTester.runUntilComplete(command);
 
-      assertThat(fakeMotor.getVoltage()).isWithin(0.01).of(BUMP_VOLTAGE);
+      assertThat(fakeMotor.getMotorVoltage().in(Units.Volts)).isWithin(0.01).of(BUMP_VOLTAGE);
     }
   }
 
@@ -149,10 +151,10 @@ public void hasCoral_withoutCoral(NetworkTableInstance ntInstance) {
   }
 
   private void assertMotorIsStopped() {
-    assertThat(fakeMotor.demand).isWithin(0.01).of(0.0);
+    assertThat(fakeMotor.getDemand()).isWithin(0.01).of(0.0);
   }
 
   private void assertMotorIsRunning() {
-    assertThat(fakeMotor.demand).isNotWithin(0.01).of(0.0);
+    assertThat(fakeMotor.getDemand()).isNotWithin(0.01).of(0.0);
   }
 }