def test_PTL_negative_case(): #test negative angles try: bot5 = ptl.PTL(8, 5, 10) except Exception as e: print(e)
def test_PTL_short_link2_case(): #tst length 0 on link 2 try: bot4 = ptl.PTL(8, 5, 0) except Exception as e: print(e)
def test_PTL_zero_case(): #test 0 case try: bot1 = ptl.PTL(0, 0, 0) except Exception as e: print(e)
def test_PTL_short_link1_case(): #test length 0 on link 1 try: bot3 = ptl.PTL(8, 0, 10) except Exception as e: print(e)
def test_PTL_book_case(): #test book example if make is possible try: bot2 = ptl.PTL(8, 5, 10) ang_list = bot2.IK(0, 4) print(ang_list) except Exception as e: print(e)
def test_PTL_book_case_dos(): #test book example if motion is possible try: bot2 = ptl.PTL(8, 5, 10) x = np.arange(-3, 3, 0.2) y = 0.1 * x + 10 for i in range(1, 30): ang_list = bot2.IK(x[i], y[i]) print(ang_list) except Exception as e: print(e)