def test_index_redirection(self, open_package_mock):
        indexer = Indexer()
        indexer.add(['test'])

        indexer.message_cb('/actuator/test/index', 42)

        self.assertEqual(42, indexer.actuators[0].index_pos)
    def test_ignores_small_changes(self, open_package_mock):
        indexer = Indexer()
        actuator = indexer.Actuator('test')
        indexer.index_callback(actuator, 0)
        indexer.index_callback(actuator, 0.05)

        self.assertFalse(actuator.stop)
        self.assertEqual(0, actuator.index_pos)
 def test_unwind(self):
     from math import pi
     value = Indexer.unwind(2 * pi - 0.1)
     self.assertAlmostEqual(-0.1, value)
     value = Indexer.unwind(0.1)
     self.assertAlmostEqual(0.1, value)
     value = Indexer.unwind(-0.1)
     self.assertAlmostEqual(-0.1, value)
     value = Indexer.unwind(0.1 - 2 * pi)
     self.assertAlmostEqual(0.1, value)
 def test_unwind(self):
     from math import pi
     value = Indexer.unwind(2*pi - 0.1)
     self.assertAlmostEqual(-0.1, value)
     value = Indexer.unwind(0.1)
     self.assertAlmostEqual(0.1, value)
     value = Indexer.unwind(-0.1)
     self.assertAlmostEqual(-0.1, value)
     value = Indexer.unwind(0.1 - 2*pi)
     self.assertAlmostEqual(0.1, value)
    def test_case_with_zero(self, open_package_mock):
        indexer = Indexer()
        actuator = indexer.Actuator('test')

        actuator.pos_setpoint = 2
        indexer.index_callback(actuator, 0)
        self.assertEqual(0.3, actuator.pos_setpoint)
        indexer.index_callback(actuator, 0.2)

        self.assertEqual(0.1, actuator.index_pos)
        self.assertTrue(actuator.stop)
    def test_basic_case(self, open_package_mock):
        indexer = Indexer()
        actuator = indexer.Actuator('test')

        actuator.pos_setpoint = 2

        indexer.index_callback(actuator, 1)
        self.assertEqual(1.3, actuator.pos_setpoint)
        indexer.index_callback(actuator, 1.2)

        self.assertEqual(1.1, actuator.index_pos)
        self.assertTrue(actuator.stop)
    def test_index_redirection(self, open_package_mock):
        indexer = Indexer()
        indexer.add(['test'])

        indexer.message_cb('/actuator/test/position', 1)
        self.assertEqual(1.3, indexer.actuators[0].pos_setpoint)
        indexer.message_cb('/actuator/test/position', 1.3)
        self.assertAlmostEqual(0.7, indexer.actuators[0].pos_setpoint)
    def test_index_redirection(self, open_package_mock):
        indexer = Indexer()
        indexer.add(['test'])

        indexer.message_cb('/actuator/test/position', 1)
        self.assertEqual(1.3, indexer.actuators[0].pos_setpoint)
        indexer.message_cb('/actuator/test/position', 1.3)
        self.assertAlmostEqual(0.7, indexer.actuators[0].pos_setpoint)
    def test_ignores_small_changes(self, open_package_mock):
        indexer = Indexer()
        actuator = indexer.Actuator('test')
        indexer.index_callback(actuator, 0)
        indexer.index_callback(actuator, 0.05)

        self.assertFalse(actuator.stop)
        self.assertEqual(0, actuator.index_pos)
    def test_index_redirection(self, open_package_mock):
        indexer = Indexer()
        indexer.add(['test'])

        indexer.message_cb('/actuator/test/index', 42)

        self.assertEqual(42, indexer.actuators[0].index_pos)
    def test_case_with_zero(self, open_package_mock):
        indexer = Indexer()
        actuator = indexer.Actuator('test')

        actuator.pos_setpoint = 2
        indexer.index_callback(actuator, 0)
        self.assertEqual(0.3, actuator.pos_setpoint)
        indexer.index_callback(actuator, 0.2)

        self.assertEqual(0.1, actuator.index_pos)
        self.assertTrue(actuator.stop)
    def test_basic_case(self, open_package_mock):
        indexer = Indexer()
        actuator = indexer.Actuator('test')

        actuator.pos_setpoint = 2

        indexer.index_callback(actuator, 1)
        self.assertEqual(1.3, actuator.pos_setpoint)
        indexer.index_callback(actuator, 1.2)

        self.assertEqual(1.1, actuator.index_pos)
        self.assertTrue(actuator.stop)
Example #13
0
from homing_handler import Indexer

indexer = Indexer()
indexer.add(['left-shoulder', 'left-elbow', 'left-wrist'])
print(indexer.start())
Example #14
0
from homing_handler import Indexer

indexer = Indexer()
indexer.add(["left-shoulder", "left-elbow", "left-wrist"])
print(indexer.start())
 def test_can_create_indexer(self, open_package_mock):
     indexer = Indexer()
 def test_can_create_indexer_actuator(self, open_package_mock):
     indexer = Indexer()
     actuator = indexer.Actuator('test')