def test_control_mode_0_read_write(self):
"""Registers read/written when using control mode 0 methods."""
power_value = 50
for motor_port_registers in MotorControlRegisters:
motor_port_name = motor_port_registers.name
motor_registers = motor_port_registers.value
mode_0_power_register = motor_registers[
MotorRegisterTypes.MODE_0_POWER]
# create instance
controller = EncoderMotorController(port=motor_port_name)
controller.set_control_mode = Mock()
controller.control_mode = Mock()
controller.control_mode.return_value = MotorControlModes.MODE_0
# setup r/w mocks
write_word_mock = controller._mcu_device.write_word = Mock()
read_signed_word_mock = controller._mcu_device.read_signed_word = Mock(
)
read_signed_word_mock.return_value = power_value
# test
controller.set_power(power_value)
write_word_mock.assert_called_with(mode_0_power_register,
power_value,
little_endian=True,
signed=True)
self.assertEquals(controller.power(), power_value)
read_signed_word_mock.assert_called_with(mode_0_power_register,
little_endian=True)
def test_power_returns_none_if_not_on_mode_0(self):
"""power() returns None if not on Mode 0."""
controller = EncoderMotorController(port="M1")
mode_mock = controller.control_mode = Mock()
for mode in (MotorControlModes.MODE_1, MotorControlModes.MODE_2):
mode_mock.return_value = mode
self.assertEquals(controller.power(), None)