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Testing & Simulation

Unit‑ish​

  • Subsystem methods can be tested by injecting fake sensors
  • Validate PID constants with simulation (PhysicsSim, plant models)

Command Tests​

  • Ensure isFinished() logic is correct with mocked suppliers
  • Use timeouts in tests to avoid hangs

Visualization​

  • Log command names + setpoints
  • Use AdvantageScope to verify timing/order of composed commands