class MotorControllerTest(unittest.TestCase):
def setUp(self):
p = MockPwm()
self.p_output = MockPidOutput()
p_controller = MockPid(self.p_output)
q = MockQep()
self.m = MotorController(p, p_controller, self.p_output, q)
self.m_pid_disabled = MotorController(p, p_controller, self.p_output, q, False)
pass
def test_motor_controller_init(self):
self.assertTrue(isinstance(self.m, Thread))
self.assertTrue(isinstance(self.m.pwm, MockPwm))
self.assertTrue(isinstance(self.m.qep, MockQep))
self.assertTrue(isinstance(self.m.pid, MockPid))
# Test default values
self.assertEqual(self.m.pid_enabled, True)
def test_motor_controlling(self):
self.m.set_speed(1.0)
self.assertEqual(1.0, self.m.pid.set_point)
time.sleep(0.1)
self.assertEqual(self.p_output.value, 1.0)
self.m_pid_disabled.set_speed(1.0)
time.sleep(0.1)
self.assertEqual(1.0, self.m_pid_disabled.speed_to_command)
