def testTwoMotorDriveSystemCreation(self):
d = DriveSystem(2)
self.assertEqual(d.get_position(), (0,0))
self.assertEqual(d.get_bearing(), 0)
self.assertEqual(d.get_motor_status(DriveSystem.MotorPosition.left), DriveSystem.MotorStatus.ready)
self.assertEqual(d.get_motor_status(DriveSystem.MotorPosition.right), DriveSystem.MotorStatus.ready)
self.assertEqual(d.get_motor_status(DriveSystem.MotorPosition.front_left), DriveSystem.MotorStatus.not_present)
self.assertEqual(d.get_motor_status(DriveSystem.MotorPosition.front_right), DriveSystem.MotorStatus.not_present)
self.assertEqual(d.get_motor_status(DriveSystem.MotorPosition.rear_right), DriveSystem.MotorStatus.not_present)
self.assertEqual(d.get_motor_status(DriveSystem.MotorPosition.rear_left), DriveSystem.MotorStatus.not_present)
def test720DegreeAntiClock(self):
d = DriveSystem(2)
d.spin(-720)
self.assertEqual(d.get_position(), (0,0))
self.assertEqual(d.get_bearing(), 0)
def test30DegreeClock(self):
d = DriveSystem(2)
d.spin(30)
self.assertEqual(d.get_position(), (0,0))
self.assertEqual(d.get_bearing(), 30)
def testBackwardTwoMetres(self):
d = DriveSystem(2)
d.backward(2)
self.assertEqual(d.get_position(), (0, -2))
self.assertEqual(d.get_bearing(), 0)
def testBackwardHalfMetre(self):
d = DriveSystem(2)
d.backward(0.5)
self.assertEqual(d.get_position(), (0, -0.5))
self.assertEqual(d.get_bearing(), 0)
def testBackwardOneMetre(self):
d = DriveSystem(2)
d.backward(1)
self.assertEqual(d.get_position(), (0, -1))
self.assertEqual(d.get_bearing(), 0)
def test360DegreeTravel(self):
d = DriveSystem(2)
d.spin(360)
d.forward(5)
self.assertAlmostEqual(d.get_position()[0], 0)
self.assertAlmostEqual(d.get_position()[1], 5)
def test330DegreeTravel(self):
d = DriveSystem(2)
d.spin(330)
d.forward(5)
self.assertAlmostEqual(d.get_position()[0], -2.5)
self.assertAlmostEqual(d.get_position()[1], 4.330127)