def test_create_jobs_right(self):
robot_state = RobotState()
message_processor = MessageProcessor('left_brick', robot_state)
message_processor.process_rotate_command(RotateCommand('ev3-ports:outD', 10, 100, 'hold'))
for i in range(300):
c, l, r = robot_state.next_motor_jobs()
self.assertIsNone(c)
self.assertIsNone(l)
self.assertAlmostEqual(r, 0.104, 3)
self.assertEqual((None, None, None), robot_state.next_motor_jobs())
def test_create_jobs_center(self):
robot_state = RobotState()
message_processor = MessageProcessor('left_brick', robot_state)
message_processor.process_rotate_command(RotateCommand('ev3-ports:outB', 20, 100, 'hold'))
for i in range(150):
c, l, r = robot_state.next_motor_jobs()
self.assertAlmostEqual(c, -0.667, 3)
self.assertIsNone(l)
self.assertIsNone(r)
self.assertEqual((None, None, None), robot_state.next_motor_jobs())
def test_create_jobs_coast_left(self):
coasting_sub = apply_scaling(get_config().get_data()['motor_settings']['pixel_coasting_subtraction'])
robot_state = RobotState()
message_processor = MessageProcessor('left_brick', robot_state)
message_processor.process_rotate_command(RotateCommand('ev3-ports:outA', 80, 200, 'coast'))
for i in range(75):
c, l, r = robot_state.next_motor_jobs()
self.assertIsNone(c)
self.assertAlmostEqual(l, 0.833, 3)
self.assertIsNone(r)
ppf = 0.833 - coasting_sub
for i in range(2):
c, l, r = robot_state.next_motor_jobs()
self.assertIsNone(c)
self.assertAlmostEqual(l, ppf, 3)
self.assertIsNone(r)
ppf = max(ppf - coasting_sub, 0)
self.assertEqual((None, None, None), robot_state.next_motor_jobs())
def test_create_jobs_coast_center(self):
coasting_sub = get_config().get_data()['motor_settings']['degree_coasting_subtraction']
robot_state = RobotState()
message_processor = MessageProcessor('left_brick', robot_state)
message_processor.process_rotate_command(RotateCommand('ev3-ports:outB', 80, 200, 'coast'))
for i in range(75):
c, l, r = robot_state.next_motor_jobs()
self.assertAlmostEqual(c, -2.667, 3)
self.assertIsNone(l)
self.assertIsNone(r)
ppf = 2.667 - coasting_sub
for i in range(2):
c, l, r = robot_state.next_motor_jobs()
self.assertAlmostEqual(c, -ppf, 3)
self.assertIsNone(l)
self.assertIsNone(r)
ppf = max(ppf - coasting_sub, 0)
self.assertEqual((None, None, None), robot_state.next_motor_jobs())