def test_should_return_led(self):
expected_led = Pin(21)
led = Pin(21)
arm = Arm_partial(None, None, None, None, None, led)
current_led = arm.get_motor("l")
self.assertEquals(expected_led.value, current_led.value)
self.assertEquals(expected_led.number, current_led.number)
def test_should_return_gripper_motor(self):
expected_motor = Motor(5, 6)
gripper = Motor(5, 6)
arm = Arm_partial(None, None, None, None, gripper, None)
current_waist = arm.get_motor("g")
self.assertEquals(expected_motor.pin_a.number,
current_waist.pin_a.number)
self.assertEquals(expected_motor.pin_b.number,
current_waist.pin_b.number)
self.assertEquals(expected_motor.pin_a.value,
current_waist.pin_a.value)
self.assertEquals(expected_motor.pin_b.value,
current_waist.pin_b.value)
def test_should_return_wrist_motor(self):
expected_motor = Motor(16, 20)
wrist = Motor(16, 20)
arm = Arm_partial(None, None, None, wrist, None, None)
current_waist = arm.get_motor("u")
self.assertEquals(expected_motor.pin_a.number,
current_waist.pin_a.number)
self.assertEquals(expected_motor.pin_b.number,
current_waist.pin_b.number)
self.assertEquals(expected_motor.pin_a.value,
current_waist.pin_a.value)
self.assertEquals(expected_motor.pin_b.value,
current_waist.pin_b.value)
def test_should_return_elbow_motor(self):
expected_motor = Motor(17, 27)
elbow = Motor(17, 27)
arm = Arm_partial(None, None, elbow, None, None, None)
current_waist = arm.get_motor("e")
self.assertEquals(expected_motor.pin_a.number,
current_waist.pin_a.number)
self.assertEquals(expected_motor.pin_b.number,
current_waist.pin_b.number)
self.assertEquals(expected_motor.pin_a.value,
current_waist.pin_a.value)
self.assertEquals(expected_motor.pin_b.value,
current_waist.pin_b.value)
def test_should_return_waist(self):
expected_motor = Motor(13, 19)
waist = Motor(13, 19)
arm = Arm_partial(waist, None, None, None, None, None)
self.assertEquals(expected_motor.pin_a.number, arm.waist.pin_a.number)
self.assertEquals(expected_motor.pin_b.number, arm.waist.pin_b.number)
self.assertEquals(expected_motor.pin_a.value, arm.waist.pin_a.value)
self.assertEquals(expected_motor.pin_b.value, arm.waist.pin_b.value)
def pi_arm_configuration(self):
Configuration().configure()
self._executor = RPiExecutor()
waist = Motor(13, 19)
shoulder = Motor(23, 24)
elbow = Motor(17, 27)
wrist = Motor(16, 20)
gripper = Motor(5, 6)
led = Pin(21)
arm = Arm_partial(waist, shoulder, elbow, wrist, gripper, led)
self._arm = arm
self._led = led
control = Control(None, self._executor, self._led)
pi_arm = PiArm(control)
return control, pi_arm
def __init__(self, control):
Configuration().configure()
self._executor = RPiExecutor()
waist = Motor(13, 19)
shoulder = Motor(23, 24)
elbow = Motor(17, 27)
wrist = Motor(16, 20)
gripper = Motor(5, 6)
led = Pin(21)
arm = Arm_partial(waist, shoulder, elbow, wrist, gripper, led)
self._arm = arm
self._led = led
if control == None:
print "runtime constructor"
self._control = Control(None, self._executor, self._led)
else:
print "test constructor"
self._control = control
def should_be_call_parser_with_joint(self):
Configuration().configure()
self._executor = RPiExecutor()
waist = Motor(13, 19)
shoulder = Motor(23, 24)
elbow = Motor(17, 27)
wrist = Motor(16, 20)
gripper = Motor(5, 6)
led = Pin(21)
arm = Arm_partial(waist, shoulder, elbow, wrist, gripper, led)
self._arm = arm
self._led = led
control = Control(None, self._executor, self._led)
pi_arm = PiArm(control)
input_primitive_joints = "g c 10"
pi_arm.execute_joint = MagicMock()
expected_joint = Joint_partial("g", "c", 10)
pi_arm.parse_joints(input_primitive_joints)
pi_arm.execute_joint.assert_called_with(expected_joint)
def test_should_configure_arm(self):
expected_waist = Motor(13, 19)
expected_shoulder = Motor(23, 24)
expected_elbow = Motor(17, 27)
expected_wrist = Motor(16, 20)
expected_gripper = Motor(5, 6)
expected_led = Pin(21)
expected_arm = Arm_partial(expected_waist, expected_shoulder, expected_elbow, expected_wrist, expected_gripper, expected_led)
pi_arm = PiArm(None)
current_arm = pi_arm._arm
self.assertEquals(current_arm.waist.pin_a.number, expected_arm.waist.pin_a.number)
self.assertEquals(current_arm.waist.pin_b.number, expected_arm.waist.pin_b.number)
self.assertEquals(current_arm.shoulder.pin_a.number, expected_arm.shoulder.pin_a.number)
self.assertEquals(current_arm.shoulder.pin_b.number, expected_arm.shoulder.pin_b.number)
self.assertEquals(current_arm.elbow.pin_a.number, expected_arm.elbow.pin_a.number)
self.assertEquals(current_arm.elbow.pin_b.number, expected_arm.elbow.pin_b.number)
self.assertEquals(current_arm.wrist.pin_a.number, expected_arm.wrist.pin_a.number)
self.assertEquals(current_arm.wrist.pin_b.number, expected_arm.wrist.pin_b.number)
self.assertEquals(current_arm.gripper.pin_a.number, expected_arm.gripper.pin_a.number)
self.assertEquals(current_arm.gripper.pin_b.number, expected_arm.gripper.pin_b.number)
self.assertEquals(current_arm.led.number, expected_arm.led.number)
from src.main.logic.control import Control
from src.main.domain.motor import Motor
from src.main.configuration.configuration import Configuration
from src.main.domain.arm_partial import Arm_partial
Configuration().configure()
executor = RPiExecutor()
waist = Motor(13, 19)
shoulder = Motor(23, 24)
elbow = Motor(17, 27)
wrist = Motor(16, 20)
gripper = Motor(5, 6)
led = Pin(21)
arm = Arm_partial(waist, shoulder, elbow, wrist, gripper, led)
while True:
primitive_joints = raw_input("enter a joints <(name direction value) ... > : ")
parser = Parser()
joints = parser.get_joints(primitive_joints)
for joint in joints:
motor = arm.get_motor(joint.name)
print "direction :" + joint.direction
control = Control(motor, executor, led)
if joint.direction == "l":
def test_should_return_none_motor(self):
waist = Motor(13, 19)
arm = Arm_partial(waist, None, None, None, None, None)
current_waist = arm.get_motor("x")
self.assertIsNone(current_waist)