Examples

This document provides example test cases for the FRC-Checkmate system testing framework.
These examples are designed to help developers and new team members understand how to write and register tests using Checkmate and TestResult.

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Basic Tests

Checkmate.register("Expect a failure", () -> TestResult.fail("Generic failure"));
Checkmate.register("Expect a pass", () -> TestResult.success());
Checkmate.register("Expect a pass with msg", () -> TestResult.success("Generic success"));

These demonstrate the simplest usage of the test framework:

• TestResult.success(reason?) — the test passed, optionally with a success message.
• TestResult.fail(reason) — the test failed, with an explanation message.

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Conditional Tests

Checkmate.register("Battery voltage should be above 11V", () -> {
    double batteryVoltage = RobotHardware.getBatteryVoltage();
    if (batteryVoltage < 11.0) {
        return TestResult.fail("Battery too low: " + batteryVoltage + "V");
    }
    return TestResult.success("Battery OK: " + batteryVoltage + "V");
});

This test checks the robot’s battery voltage and fails if it’s below the safe operating threshold.

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Subsystem Behavior Test

// Drivetrain.java
Checkmate.register("Drivetrain responds to forward command", () -> {
    this.setForwardPower(0.5);
    double encoderVelocity = this.getEncoderVelocity();

    if (encoderVelocity > 0.1) {
        return TestResult.success("Drivetrain moving forward (" + encoderVelocity + ")");
    }
    return TestResult.fail("Drivetrain not responding, encoder: " + encoderVelocity);
});

This test ensures the drivetrain subsystem responds properly when commanded to move.

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Sensor Initialization Test

// Gryo.java
Checkmate.register("Gyro initialization", () -> {
    if (!this.isCalibrated()) {
        return TestResult.fail("Gyro failed to calibrate");
    }
    return TestResult.success("Gyro calibrated successfully");
});

Validates that the gyro sensor is properly calibrated before use.

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Multiple Condition Test

// Arm.java
Checkmate.register("Arm subsystem safety check", () -> {
    boolean limits = this.checkLimitSwitches();
    boolean encoderOK = this.getEncoderValue() >= 0;

    if (!limits)
        return TestResult.fail("Limit switches not functioning");
    if (!encoderOK)
        return TestResult.fail("Encoder value invalid");

    return TestResult.success("Arm subsystem OK");
});

Tests multiple conditions to ensure all safety and sensor checks for the arm subsystem pass.

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Intentional Failure Example

Checkmate.register("Expect failure in drivetrain", () -> {
    return TestResult.fail("Intentional failure to test reporting system");
});

Used to confirm that your test reporting system handles failures correctly.

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Notes

• Each test should return a TestResult — either success or failure.
• You can access any robot subsystems, sensors, or simulated devices in your tests.
• Tests can be run automatically before a match, during system checks, or manually by developers.
• Use descriptive names and clear failure messages to make diagnosing issues easy.

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Suggested Naming Convention

Use descriptive names that clearly define the intent:

• ✅ "Battery voltage above threshold"
• ✅ "Gyro calibration completes within 3s"
• ❌ "Test 1" or "Check stuff"

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FRC-Checkmate is built for maintainable, automated system validation.
Use these examples as templates when writing your own robot system tests.