TestMode

A WPILib vendordep for structured FRC robot testing. Spin up motors, measure steady-state velocity, compare against a saved baseline, and get a pass/fail result — all from a SendableChooser on SmartDashboard.

Vendordep URL: https://rylero.github.io/TestMode/TestMode.json

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How It Works

TestMode runs in two phases:

1. Baseline — drive each mechanism and record its healthy velocity
2. Test — drive each mechanism again, compare to baseline, report pass/fail

Both are built from the same TestModeBuilder and selected via a SendableChooser.

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Quick Start

private void configureTestMode() {
    SendableChooser<Command> testModeChooser = new SendableChooser<>();

    TestModeBuilder testModeBuilder = new TestModeBuilder()
        .withFlywheelStep(new TestStepConfig("flywheel_test"), motor::setVoltage, () -> motor.getVelocity().getValueAsDouble())
        .withTestResultConsumer(new TestModeReport())
        .withOverallResultConsumer((passed) -> System.out.println(passed ? "PASS" : "FAIL")); // You could replace printing with setting CANDLE LEDs to show test results on the robot itself

    testModeChooser.addOption("Test", testModeBuilder.buildTestCommand());
    testModeChooser.addOption("Baseline", testModeBuilder.buildBaselineCommand());

    SmartDashboard.putData(testModeChooser);
    testChooser = testModeChooser;
}

Call this from robotInit() or your container constructor, then select Baseline once on a healthy robot, and Test on subsequent matches to verify. Run the command returned by the sendable chooser on testInit() in the same way you run an autonomous command.

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Step Types

Flywheel Step

For any spinning mechanism (flywheel, intake roller, etc.):

.withFlywheelStep(
    new TestStepConfig("flywheel_test"),
    motor::setVoltage,           // DoubleConsumer — apply volts
    motor::getVelocityRPM        // DoubleSupplier — read velocity
)

Positional Step

For mechanisms that need to move to a position before testing (arm, elevator, etc.):

.withPositionalStep(
    new TestStepConfig("arm_test").withTargetPosition(45.0).withPositionTolerance(2.0),
    motor::setVoltage,
    motor::getVelocityRPM,
    arm::setPosition,
    arm::getPosition
)

Multi-Flywheel Step

For subsystems with multiple motors sharing a single voltage (e.g., a shooter with top and bottom rollers). One result is reported per motor, named stepName_0, stepName_1, etc.:

// varargs form
.withMultiFlywheelStep(
    new TestStepConfig("shooter"),
    shooter::setVoltage,
    topMotor::getVelocityRPM,
    bottomMotor::getVelocityRPM
)

// list form
.withMultiFlywheelStep(
    new TestStepConfig("shooter"),
    shooter::setVoltage,
    List.of(topMotor::getVelocityRPM, bottomMotor::getVelocityRPM)
)

Multi-Positional Step

Same as multi-flywheel, but moves to a target position first. Position control is shared across all motors:

.withMultiPositionalStep(
    new TestStepConfig("arm").withTargetPosition(90.0).withPositionTolerance(2.0),
    arm::setVoltage,
    List.of(leftMotor::getVelocityRPM, rightMotor::getVelocityRPM),
    arm::setPosition,
    arm::getPosition
)

Extra Conditions

For pass/fail checks that aren't velocity-based (sensor connectivity, calibration state, etc.):

.withCondition("Left motor connected", leftMotor::isConnected)

Conditions are evaluated at the end of the test run and included in the overall pass/fail result. If any condition returns false, the overall test fails. The HTML report shows conditions in a separate Conditions section above the motor step results.

Condition results have isConditionCheck = true in the TestResult; velocity fields are not meaningful for them.

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TestStepConfig

All parameters have defaults. Override with fluent setters:

Parameter	Default	Description
voltage	4 V	Voltage applied to the motor
applyTime	3 s	Spin-up time before data collection
dataTime	2 s	Duration to average velocity data
tolerance	5%	Max deviation from baseline to pass
targetPosition	0	Position to reach before testing (positional only)
positionTolerance	0.1	Acceptable position error (positional only)
moveTimeout	5 s	Max wait for position to be reached (positional only)

new TestStepConfig("my_step")
    .withVoltage(6.0)
    .withApplyTime(2.0)
    .withTolerance(0.10)  // 10%

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Result Consumers

TestModeReport (built-in)

Generates an HTML report and serves it on port 5800. Also writes to /home/lvuser/test-report.html and /U/test-report.html if a USB drive is present.

.withTestResultConsumer(new TestModeReport())

View the report at http://10.TE.AM.2:5800 after running a test.

Custom Consumer

.withTestResultConsumer(results -> {
    for (TestResult r : results) {
        System.out.println(r.stepName + ": " + (r.passed ? "PASS" : "FAIL"));
    }
})

Overall Pass/Fail

.withOverallResultConsumer(passed -> leds.setColor(passed ? Color.kGreen : Color.kRed))

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Multiple Steps

Chain as many steps as needed:

new TestModeBuilder()
    .withFlywheelStep(new TestStepConfig("left_flywheel"), leftMotor::setVoltage, leftMotor::getVelocityRPM)
    .withFlywheelStep(new TestStepConfig("right_flywheel"), rightMotor::setVoltage, rightMotor::getVelocityRPM)
    .withPositionalStep(new TestStepConfig("arm").withTargetPosition(90), ...)
    .withTestResultConsumer(new TestModeReport())
    .withOverallResultConsumer(passed -> System.out.println(passed ? "PASS" : "FAIL"))

Steps run sequentially. All results are collected and passed to consumers at the end. Multi-motor steps report one result per motor, so a two-motor withMultiFlywheelStep adds two entries to the results list.