def test_set_both_motors_invalid():
serial = MockSerial(INVALID_RESPONSE)
attiny = AttinyProtocol(serial)
with pytest.raises(InvalidResponseException):
attiny.set_motors(0, 0)
assert serial.received[:1] == SET_BOTH_MOTORS
def test_set_both_motors_exceed_maxmin():
serial = MockSerial(ACK)
left = MOTOR_MAX + 1
left_bytes = BYTES_MOTOR_MAX
right = MOTOR_MIN - 1
right_bytes = BYTES_MOTOR_MIN
attiny = AttinyProtocol(serial)
attiny.set_motors(left, right)
assert len(serial.received) == 3
assert serial.received == SET_BOTH_MOTORS + left_bytes + right_bytes
def test_set_both_motors_timeout():
serial = MockSerial(b'')
attiny = AttinyProtocol(serial)
result = attiny.set_motors(0, 0)
assert result == False
def test_set_both_motors_nak():
serial = MockSerial(NAK)
attiny = AttinyProtocol(serial)
result = attiny.set_motors(0, 0)
assert result == False
def test_set_both_motors_zero():
serial = MockSerial(ACK)
left = MOTOR_ZERO
left_bytes = BYTES_MOTOR_ZERO
right = MOTOR_ZERO
right_bytes = BYTES_MOTOR_ZERO
attiny = AttinyProtocol(serial)
result = attiny.set_motors(left, right)
assert len(serial.received) == 3
assert serial.received == SET_BOTH_MOTORS + left_bytes + right_bytes
assert result == True