def test_set_pulse_with_adjusted_throttle(self, serial):
driver = RoboHATDriver(cfg)
driver.MAX_FORWARD = 1800
driver.write_pwm = MagicMock()
driver.set_pulse(1.0, 1.0)
driver.write_pwm.assert_called_with(1000, 1800)
driver.set_pulse(0.0, 0.5)
# (1800 - 1500)/ 2 + 1500 = 1650
driver.write_pwm.assert_called_with(1500, 1650)
# Change the STOPPED_PWM
driver.STOPPED_PWM = 1400
driver.set_pulse(0.0, 0.5)
# (1800 -1400)/2 + 1400 = 1600
driver.write_pwm.assert_called_with(1500, 1600)
# Test Reverse
driver.STOPPED_PWM = 1500
driver.MAX_REVERSE = 1000
driver.set_pulse(0.0, -0.5)
driver.write_pwm.assert_called_with(1500, 1250)
driver.MAX_REVERSE = 1250
driver.set_pulse(0.0, -0.5)
driver.write_pwm.assert_called_with(1500, 1375)
def test_set_pulse(self, serial):
driver = RoboHATDriver(cfg, True)
driver.write_pwm = MagicMock()
# angle, throttle
driver.set_pulse(0.0, 0.0)
driver.write_pwm.assert_called_with(1500, 1500)
driver.set_pulse(1.0, 0.0)
driver.write_pwm.assert_called_with(1000, 1500)
driver.set_pulse(0.0, 1.0)
driver.write_pwm.assert_called_with(1500, 2000)
driver.set_pulse(1.0, 1.0)
driver.write_pwm.assert_called_with(1000, 2000)
driver.set_pulse(-1.0, 0.0)
driver.write_pwm.assert_called_with(2000, 1500)
driver.set_pulse(0.0, -1.0)
driver.write_pwm.assert_called_with(1500, 1000)
driver.set_pulse(-1.0, -1.0)
driver.write_pwm.assert_called_with(2000, 1000)
driver.set_pulse(-2.0, -2.0)
driver.write_pwm.assert_called_with(2000, 1000)