def setUp(self):
self.sender = ToCRIO()
self.sender.send_reboot_command()
sleep(5)
# self.sender.send_stop_command()
# self.sender.send_start_command()
self.receiver = FromCRIO()
self.receiver.has_data.wait(180)
class RotateInPlaceVerification(unittest.TestCase):
def setUp(self):
self.sender = ToCRIO()
self.sender.send_reboot_command()
sleep(5)
# self.sender.send_stop_command()
# self.sender.send_start_command()
self.receiver = FromCRIO()
self.receiver.has_data.wait(180)
def tearDown(self):
# self.sender.send_stop_command()
self.sender.send_heading_speed_command(self.receiver.heading, 0)
self.sender = None
self.receiver.cleanup()
self.receiver = None
multitest_steering_values = get_test_angles()
def multitest_steering(self, angle):
condition = self.receiver.has_data.isSet()
self.assertTrue(condition, "Timed out waiting for the receiver to receive a packet")
self.sender.send_heading_speed_command(angle, 0.0)
sleep(4.8)
self.x = self.receiver.x
self.y = self.receiver.y
self.heading = self.receiver.heading
self.dist_err = distance_from_origin(self.x, self.y)
self.assertTrue(self.dist_err < 0.5, "Not within 0.5 meters of origin after turn to %f. Distance Error was %f" % (angle, self.dist_err))
self.error = angle - self.heading
self.min_error = min_angle(self.error)
self.assertTrue(math.degrees(self.min_error) < 5.0, "Heading error not less than 5 degrees after turn to %f. Error was %f" % (angle, math.degrees(self.min_error)))
