def test_modes():
intake = Intake()
intake.intake_motor=MagicMock()
intake.intake_motor.changeControlMode = MagicMock()
intake.intake_motor.setPID = MagicMock()
intake.intake_motor.setPosition = MagicMock()
intake.feeder_motor = MagicMock()
#speed mode
intake.speed_mode()
intake.intake_motor.changeControlMode.assert_called_with(CANTalon.ControlMode.Speed)
assert intake.intake_motor.setPID.called
#position mode
intake.position_mode()
intake.intake_motor.changeControlMode.assert_called_with(CANTalon.ControlMode.Position)
assert intake.intake_motor.setPID.called
intake.intake_motor.setPosition.assert_called_with(0.0)
def test_up_to_speed():
intake = Intake()
intake.intake_motor = MagicMock()
intake.feeder_motor = MagicMock()
#test setpoint condition
intake.intake_motor.getClosedLoopError = MagicMock(return_value=0.0)
intake.intake_motor.getSetpoint = MagicMock(0.0)
assert not intake.up_to_speed()
intake.intake_motor.getSetpoint = MagicMock(return_value=0.7*Intake.max_speed)
assert intake.up_to_speed()
#test closed loop error condition
intake.intake_motor.getSetpoint = MagicMock(return_value=0.7*Intake.max_speed)
intake.intake_motor.getClosedLoopError = MagicMock(return_value=0.05*Intake.max_speed)
assert not intake.up_to_speed()
intake.intake_motor.getClosedLoopError = MagicMock(return_value=0.0)
assert intake.up_to_speed()
def test_pinned():
intake = Intake()
intake.intake_motor = MagicMock()
intake.feeder_motor = MagicMock()
# test error condition
intake.intake_motor.get = MagicMock(return_value=-501)
intake.intake_motor.getSetpoint = MagicMock(return_value=-1000)
intake.intake_motor.getClosedLoopError = MagicMock(return_value=20)
assert not intake.pinned()
intake.intake_motor.getClosedLoopError = MagicMock(return_value=19)
assert intake.pinned()
# test only return after half of setpoint reached
intake.intake_motor.getClosedLoopError = MagicMock(return_value=19)
intake.intake_motor.getSetpoint = MagicMock(return_value=-1000)
intake.intake_motor.get = MagicMock(return_value=-500)
assert not intake.pinned()
intake.intake_motor.get = MagicMock(return_value=-501)
assert intake.pinned()
def test_slowing():
intake = Intake()
#test velocity condition
intake.acceleration = 1.0
intake.velocity = 0.0
assert not intake.slowing()
intake.velocity = -1.0
assert intake.slowing()
#test acceleration condition
intake.velocity = -1.0
intake.acceleration = 0.0
assert not intake.slowing()
intake.acceleration = 1.0
assert intake.slowing()
def test_ball_detected():
intake = Intake()
intake.intake_motor = MagicMock()
intake.feeder_motor = MagicMock()
#test error condition
intake.acceleration = -1.0
intake.current_rate = 1.0
intake.intake_motor.getClosedLoopError = MagicMock(return_value=0.0)
assert not intake.ball_detected()
intake.intake_motor.getClosedLoopError = MagicMock(return_value=0.2*Intake.max_speed)
assert intake.ball_detected()
#test acceleration condition
intake.current_rate = 1.0
intake.intake_motor.getClosedLoopError = MagicMock(return_value=0.2*Intake.max_speed)
intake.acceleration = 0.0
assert not intake.ball_detected()
intake.acceleration = -1.0
assert intake.ball_detected()
#test current rate condition
intake.acceleration = -1.0
intake.intake_motor.getClosedLoopError = MagicMock(return_value=0.2*Intake.max_speed)
intake.current_rate = 0.0
assert not intake.ball_detected()
intake.current_rate = 1.0
assert intake.ball_detected()
def test_control_methods():
intake = Intake()
intake.intake_motor = MagicMock()
intake.intake_motor.set = MagicMock()
intake.feeder_motor = MagicMock()
intake.feeder_motor.set = MagicMock()
intake.speed_mode = MagicMock()
intake.position_mode = MagicMock()
intake.intake()
intake.intake_motor.set.assert_called_with(0.7*Intake.max_speed)
assert intake.speed_mode.called
intake.backdrive_slow()
intake.intake_motor.set.assert_called_with(-0.5*Intake.max_speed)
assert intake.speed_mode.called
intake.backdrive_pin()
intake.intake_motor.set.assert_called_with(-0.3*Intake.max_speed)
assert intake.speed_mode.called
intake.stop()
intake.intake_motor.set.assert_called_with(0.0)
assert intake.speed_mode.called
intake.jam()
intake.intake_motor.set.assert_called_with(-1000)
assert intake.position_mode.called
def test_toggle():
intake = Intake()
intake.toggle()
assert intake.state == States.intaking_free
intake.toggle()
assert intake.state == States.no_ball
