def test_move_to_left_no_wait(self, motor : Motor) :
position_before = 0
position_target = -environment.MOTOR_STEPS * motor.microstep_resolution
overshoot = False
motor.move_to(position_target, False)
while True :
position = motor.position
if overshoot is False :
self.assertLessEqual(position, position_before)
position_before = position
velocity = motor.velocity
if not motor.moving :
break
self.assertNotEqual(velocity, 0.0)
if overshoot is False and velocity > 0.0 :
overshoot = True
if overshoot :
self.assertGreater(velocity, 0.0)
else :
self.assertLess(velocity, 0.0)
self.assertEqual(motor.position, position_target)
self.__test_stopped(motor)
def test_move_to_left(self, motor : Motor) :
position_target = -environment.MOTOR_STEPS * motor.microstep_resolution
motor.move_to(position_target)
self.assertEqual(motor.position, position_target)
self.__test_stopped(motor)