def test_then_returns_motor_state(self, mock_port_adapter):
dxl_id = 4
adapter = DynamixelAdapter(mock_port_adapter)
actual = adapter.read_state(dxl_id)
assert type(actual) == MotorState
def create_mayday() -> MaydayRobot:
dxl_adapter = DynamixelAdapter(None)
dxl_adapter.init_communication()
leg_factory = LegFactory()
mayday_factory = MaydayRobotFactory(leg_factory)
may = mayday_factory.create_basic(dxl_adapter)
return may
def test_given_read_present_vel_int_1__then_returns_0_024(
self, mock_port_adapter):
dxl_id = 4
mock_port_adapter.read = MagicMock(return_value=1)
adapter = DynamixelAdapter(mock_port_adapter)
actual = adapter.read_state(dxl_id).velocity
assert 0.024 - actual < 0.01
def test_given_read_present_vel_int_1__then_returns_1(
self, mock_port_adapter):
dxl_id = 4
mock_port_adapter.read = MagicMock(return_value=1)
adapter = DynamixelAdapter(mock_port_adapter)
actual = adapter.read_state(dxl_id).velocity
assert actual == 1.0 * 0.229 * tau / 60.0 # converted to rad/s
def test_given_read_present_pos_int_2048_then_returns_radians_0(
self, mock_port_adapter):
dxl_id = 4
mock_port_adapter.read = MagicMock(return_value=2048)
adapter = DynamixelAdapter(mock_port_adapter)
actual = adapter.read_state(dxl_id).position
assert actual == 0.0
def test_given_drive_mode_backward__when_write_drive_mode__then_calls_dxl_write_with_1(
self):
id_num = 11
drive_mode = 'backward'
adapter = DynamixelAdapter(None)
adapter.write_config = MagicMock()
adapter.write_drive_mode(id_num, drive_mode)
drive_mode_expected = 1
adapter.write_config.assert_called_with(id_num, 'Drive Mode',
drive_mode_expected)
def test_given_angle__when_rad_to_int_range__then_returns_expected(
self, angle, expected):
actual = DynamixelAdapter.rad_to_int_range(angle)
assert actual == expected
def initialized_dxl_adapter():
dxl_adapter = DynamixelAdapter(DynamixelPortAdapter())
dxl_adapter.port_adapter.init_communication()
return dxl_adapter
def adapter():
mock_port_adapter = create_autospec(DynamixelPortAdapter)
return DynamixelAdapter(mock_port_adapter)
def test_given_too_big_int_value__when_int_range_to_rad__then_raises_value_error(
self, int_value):
with pytest.raises(ValueError) as cm:
actual = DynamixelAdapter.int_range_to_rad(int_value)
def test_given_int__when_int_range_to_rad__then_returns_expected(
self, int_value, expected):
actual = DynamixelAdapter.int_range_to_rad(int_value)
assert actual == expected