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Fix the C++ swerve drive tests depending on the test before them #226

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Merged
thenetworkgrinch merged 1 commit into from
Oct 20, 2026
Merged

Fix the C++ swerve drive tests depending on the test before them #226

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8 changes: 8 additions & 0 deletions vendordep/src/test/native/cpp/mechs/SwerveDriveTest.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -237,6 +237,14 @@ struct SwerveDriveTestFixture {
InitializeHardware();
SchedulerHelper::CancelAll();
m_simGyro = 0_deg;
// The motors are shared by every test, so stop them and point the wheels forward again rather
// than starting from wherever the last test left them.
for (auto* smc : {hw.flDriveSMC, hw.frDriveSMC, hw.blDriveSMC, hw.brDriveSMC, hw.flAzimuthSMC,
hw.frAzimuthSMC, hw.blAzimuthSMC, hw.brAzimuthSMC}) {
smc->SetDutyCycle(0.0);
if (auto* sim = smc->GetSimSupplier()) sim->SetMechanismVelocity(0_tps);
smc->SetEncoderPosition(0_tr);
}

auto makeModuleCfg = [](remote::TalonFXWrapper* drive, remote::TalonFXWrapper* azimuth,
wpi::units::meter_t front, wpi::units::meter_t left,
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