def setUp(self):
self.enable_pin = 1
self.input1_pin = 2
self.input2_pin = 3
Motor.__gpio_module__.reset_mock()
self.motor = Motor(self.enable_pin, self.input1_pin, self.input2_pin)
def test_colud_calibrate_backward(self):
self.motor = Motor(None, None, None, correction=0.5)
self.motor.backward(100)
self.motor.enable.ChangeDutyCycle.assert_called_with(50)
class TestMotor(unittest.TestCase):
"""Tests for class Motor."""
def setUp(self):
self.enable_pin = 1
self.input1_pin = 2
self.input2_pin = 3
Motor.__gpio_module__.reset_mock()
self.motor = Motor(self.enable_pin, self.input1_pin, self.input2_pin)
def test_init(self):
self.assertEqual(self.motor.__gpio_module__, self.motor.gpio)
self.assertEqual(self.motor.enable_pin, self.enable_pin)
self.assertEqual(self.motor.input1_pin, self.input1_pin)
self.assertEqual(self.motor.input2_pin, self.input2_pin)
self.assertEqual(self.motor.gpio.setup.call_count, 3)
self.assertTrue(self.motor.gpio.PWM.called)
self.assertTrue(self.motor.enable.start.called)
def test_forward(self):
self.motor.forward(100)
self.motor.gpio.output.assert_any_call(self.input1_pin, 1)
self.motor.gpio.output.assert_any_call(self.input2_pin, 0)
self.assertTrue(self.motor.enable.ChangeDutyCycle.called)
def test_forward_without_speed(self):
with self.assertRaises(TypeError):
self.motor.forward()
def test_forward_max_speed(self):
self.motor.forward(100)
self.motor.enable.ChangeDutyCycle.assert_called_with(100)
def test_forward_min_speed(self):
self.motor.forward(0)
self.motor.enable.ChangeDutyCycle.assert_called_with(0)
def test_forward_speed_out_of_bounds(self):
speeds = (-1, 200, 101)
for speed in speeds:
with self.assertRaises(TypeError):
self.motor.forward(speed)
def test_backward(self):
self.motor.backward(100)
self.motor.gpio.output.assert_any_call(self.input1_pin, 0)
self.motor.gpio.output.assert_any_call(self.input2_pin, 1)
self.assertTrue(self.motor.enable.ChangeDutyCycle.called)
def test_backward_without_speed(self):
with self.assertRaises(TypeError):
self.motor.backward()
def test_backward_max_speed(self):
self.motor.backward(100)
self.motor.enable.ChangeDutyCycle.assert_called_with(100)
def test_backward_min_speed(self):
self.motor.backward(0)
self.motor.enable.ChangeDutyCycle.assert_called_with(0)
def test_backward_speed_out_of_bounds(self):
speeds = (-1, 200, 101)
for speed in speeds:
with self.assertRaises(TypeError):
self.motor.backward(speed)
def test_stop(self):
self.motor.stop()
self.motor.enable.ChangeDutyCycle.assert_called_with(0)
def test_colud_calibrate_forward(self):
self.motor = Motor(None, None, None, correction=0.5)
self.motor.forward(100)
self.motor.enable.ChangeDutyCycle.assert_called_with(50)
def test_colud_calibrate_backward(self):
self.motor = Motor(None, None, None, correction=0.5)
self.motor.backward(100)
self.motor.enable.ChangeDutyCycle.assert_called_with(50)
