def testSetThrottle(self):
filesystem = SysfsWriterDummy()
motor = Motor(0, 50.0).setSysfsWriter(filesystem)
motor.start()
motor.setThrottle(10.0)
throttle = motor.getThrottle()
duty = motor.getDuty()
self.assertEquals(throttle, 10.0, "Throttle wasn't properly set")
self.assertEquals(duty, 1100000, "Duty wasn't properly set")
#pwm6 corresponds to the motor number 0
self.assertEquals(int(filesystem.read("/sys/class/pwm/pwm6/duty_ns")),
1100000, "Duty wasn't properly written")
def testGetThrottle(self):
filesystem = SysfsWriterDummy()
motor = Motor(0, 50.0).setSysfsWriter(filesystem)
motor.start()
motor.setThrottle(10.0)
throttle = motor.getThrottle()
self.assertEquals(throttle, 10.0, "Throttle wasn't properly returned")
def testSetMinThrottle(self):
filesystem = SysfsWriterDummy()
motor = Motor(0, 50.0).setSysfsWriter(filesystem)
motor.start()
motor.setMinThrottle()
throttle = motor.getThrottle()
self.assertEquals(throttle, 0.0, "Throttle wasn't properly set")
def testGetDuty(self):
filesystem = SysfsWriterDummy()
motor = Motor(0, 50.0).setSysfsWriter(filesystem)
motor.start()
motor.setThrottle(10.0)
duty = motor.getDuty()
self.assertEquals(duty, 1100000, "Duty wasn't properly returned")
def testStop(self):
filesystem = SysfsWriterDummy()
motor = Motor(0, 50.0).setSysfsWriter(filesystem)
motor.start()
motor.setThrottle(10.0)
throttle = motor.getThrottle()
self.assertEquals(throttle, 10.0, "Throttle wasn't properly set")
motor.stop()
throttle = motor.getThrottle()
self.assertEquals(throttle, 50.0,
"Throttle wasn't properly set at neutral value")
#pwm6 corresponds to the motor number 0
self.assertEquals(int(filesystem.read("/sys/class/pwm/pwm6/run")), 0,
"Motor wasn't properly stopped")
def testStart(self):
filesystem = SysfsWriterDummy()
motor = Motor(0, 50.0).setSysfsWriter(filesystem)
motor.start()
throttle = motor.getThrottle()
duty = motor.getDuty()
self.assertEquals(throttle, 50.0, "Incorrect throttle")
self.assertEquals(duty, 1500000, "Incorrect duty")
#pwm6 corresponds to the motor number 0
self.assertEquals(int(filesystem.read("/sys/class/pwm/pwm6/run")), 1,
"Motor not running")
self.assertEquals(
int(filesystem.read("/sys/class/pwm/pwm6/period_ns")), 20000000,
"Incorrect period")
self.assertEquals(int(filesystem.read("/sys/class/pwm/pwm6/duty_ns")),
1500000, "Motor not running")
def test_calculateDuty(self):
filesystem = SysfsWriterDummy()
motor = Motor(0, 50.0).setSysfsWriter(filesystem)
duty = motor._calculateDuty(0.0)
self.assertEquals(duty, 1000000, "Wrong duty")
duty = motor._calculateDuty(50.0)
self.assertEquals(duty, 1500000, "Wrong duty")
duty = motor._calculateDuty(100.0)
self.assertEquals(duty, 2000000, "Wrong duty")