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_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()
