def test_motor_get_state_float() -> None:
"""Test that we can get the state of a motor."""
motor0 = Motor(0, MockMotorDriver())
motor1 = Motor(1, MockMotorDriver())
assert type(motor0.power) is float
assert type(motor1.power) is float
assert motor0.power == 0
assert motor1.power == 0.5
def test_motor_get_state_special() -> None:
"""Test that we can get the special state of a motor."""
motor0 = Motor(2, MockMotorDriver())
motor1 = Motor(3, MockMotorDriver())
assert type(motor0.power) is MotorSpecialState
assert type(motor1.power) is MotorSpecialState
assert motor0.power == MotorSpecialState.COAST
assert motor1.power == MotorSpecialState.BRAKE
def __init__(self, serial: str, backend: Backend):
self._serial = serial
self._backend = backend
self._outputs: List[Motor] = [
Motor(output, cast(MotorInterface, self._backend))
for output in range(0, 2)
]
def __init__(
self,
serial: str,
backend: Backend,
*,
safe_state: MotorState = MotorSpecialState.BRAKE,
):
self._serial = serial
self._backend = backend
self._safe_state = safe_state
self._outputs = ImmutableList[Motor](
Motor(output, cast(MotorInterface, self._backend))
for output in range(0, 2))
def test_motor_set_state() -> None:
"""Test that we can set the state of a motor."""
motor = Motor(0, MockMotorDriver())
motor.power = 0
motor.power = 1
motor.power = -1
motor.power = 0.123
motor.power = MotorSpecialState.COAST
motor.power = MotorSpecialState.BRAKE
def test_motor_set_state_out_of_bounds() -> None:
"""Test that an error is thrown when the state is out of bounds."""
motor = Motor(0, MockMotorDriver())
with pytest.raises(ValueError):
motor.power = 2
with pytest.raises(ValueError):
motor.power = 1.1
with pytest.raises(ValueError):
motor.power = -3
with pytest.raises(ValueError):
motor.power = -1.2
def test_motor_identifier() -> None:
"""Test the identifier attribute of the component."""
component = Motor(0, MockMotorDriver())
assert component.identifier == 0
def test_motor_instantiation() -> None:
"""Test that we can instantiate a Motor."""
Motor(0, MockMotorDriver())
def test_motor_interface_class() -> None:
"""Test that the interface class is MotorInterface."""
assert Motor.interface_class() is MotorInterface