def test_set_speed():
shooter = Shooter()
shooter.shooter_motor = MagicMock()
shooter.start_shoot()
shooter.execute()
assert shooter._speed != 0.0
shooter.shooter_motor.setFeedbackDevice.assert_called_once_with(CANTalon.FeedbackDevice.QuadEncoder)
assert shooter.shooter_motor.set.called
def test_changed_speed():
shooter = Shooter()
shooter.shooter_motor = MagicMock()
shooter.start_shoot()
shooter.execute()
shooter.execute()
# Setpoint for Talon SRX should only get called once
assert shooter.shooter_motor.set.call_count == 1
def test_stop():
shooter = Shooter()
shooter.shooter_motor = MagicMock()
shooter._speed = 12345
shooter.stop()
shooter.execute()
assert shooter._speed == 0.0
assert shooter.shooter_motor.set.called
def test_toggle():
shooter = Shooter()
shooter.shooter_motor = MagicMock()
shooter.state = States.off
shooter.changed_state = False
shooter.toggle()
shooter.execute()
shooter.execute()
assert shooter._speed != 0.0
shooter.state = States.shooting
shooter.changed_state = False
shooter.execute()
shooter.toggle()
shooter.execute()
shooter.execute()
assert shooter._speed == 0.0
assert shooter.shooter_motor.set.call_count == 2
def test_backdrive():
shooter = Shooter()
shooter.shooter_motor = MagicMock()
shooter.state = States.backdriving
shooter.execute()
assert shooter._speed >= 0.0
