def test_rpm_with_rotations_returns_none_if_not_on_mode_2(self):
"""rpm_with_rotations() returns None if not on Mode 1."""
controller = EncoderMotorController(port="M1")
mode_mock = controller.control_mode = Mock()
for mode in (MotorControlModes.MODE_0, MotorControlModes.MODE_1):
mode_mock.return_value = mode
self.assertEquals(controller.rpm_with_rotations(), None)
def test_control_mode_2_read_write(self):
"""Registers read/written when using control mode 2 methods."""
rpm_value = 500
rotations_value = 10
# from rpm and rotations values, calculate byte values to use in mocks
rpm_and_rotations_in_bytes = split_into_bytes(
rotations_value, 2, signed=True,
little_endian=True) + split_into_bytes(
rpm_value, 2, signed=True, little_endian=True)
rpm_and_rotations_read = join_bytes(rpm_and_rotations_in_bytes)
for motor_port_registers in MotorControlRegisters:
motor_port_name = motor_port_registers.name
motor_registers = motor_port_registers.value
mode_1_register = motor_registers[
MotorRegisterTypes.MODE_2_RPM_WITH_ROTATIONS]
# create instance
controller = EncoderMotorController(port=motor_port_name)
controller.set_control_mode = Mock()
controller.control_mode = Mock()
controller.control_mode.return_value = MotorControlModes.MODE_2
# setup r/w mocks
write_n_bytes_mock = controller._mcu_device.write_n_bytes = Mock()
read_n_unsigned_bytes_mock = (
controller._mcu_device.read_n_unsigned_bytes) = Mock()
read_n_unsigned_bytes_mock.return_value = rpm_and_rotations_read
# test
controller.set_rpm_with_rotations(rpm_value, rotations_value)
write_n_bytes_mock.assert_called_with(mode_1_register,
rpm_and_rotations_in_bytes)
self.assertEquals(controller.rpm_with_rotations(),
(rpm_value, rotations_value))
read_n_unsigned_bytes_mock.assert_called_with(mode_1_register,
4,
little_endian=True)