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_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
