def test_direction_reverse_to_right():
state = {
'current_direction': constants.DIRECTION_REVERSE,
'left_motor_speed': -50,
'right_motor_speed': -50
}
expect(MotorSpeedResolver().resolve(state,
constants.TARGET_ACTION_RIGHT)).to(
equal({
'left_motor_speed': -55,
'right_motor_speed': -45
}))
def test_direction_forward_to_left():
state = {
'current_direction': constants.DIRECTION_FORWARD,
'left_motor_speed': 50,
'right_motor_speed': 50
}
expect(MotorSpeedResolver().resolve(state,
constants.TARGET_ACTION_LEFT)).to(
equal({
'left_motor_speed': 45,
'right_motor_speed': 55
}))
def test_direction_reverse_right_to_forward():
state = {
'current_direction': constants.DIRECTION_REVERSE_RIGHT,
'left_motor_speed': -80,
'right_motor_speed': -50
}
expect(MotorSpeedResolver().resolve(state,
constants.TARGET_ACTION_FORWARD)).to(
equal({
'left_motor_speed': -70,
'right_motor_speed': -40
}))
def test_direction_reverse_left_to_reverse():
state = {
'current_direction': constants.DIRECTION_REVERSE_LEFT,
'left_motor_speed': -50,
'right_motor_speed': -80
}
expect(MotorSpeedResolver().resolve(state,
constants.TARGET_ACTION_REVERSE)).to(
equal({
'left_motor_speed': -80,
'right_motor_speed': -80
}))
def test_direction_left_to_right():
state = {
'current_direction': constants.DIRECTION_LEFT,
'left_motor_speed': -50,
'right_motor_speed': 50
}
expect(MotorSpeedResolver().resolve(state,
constants.TARGET_ACTION_RIGHT)).to(
equal({
'left_motor_speed': -40,
'right_motor_speed': 40
}))
def test_direction_forward_left_to_reverse():
state = {
'current_direction': constants.DIRECTION_FORWARD_LEFT,
'left_motor_speed': 40,
'right_motor_speed': 60
}
# TODO
expect(MotorSpeedResolver().resolve(state,
constants.TARGET_ACTION_REVERSE)).to(
equal({
'left_motor_speed': 30,
'right_motor_speed': 50
}))