def test_control_mode_1_read_write(self):
"""Registers read/written when using control mode 1 methods."""
rpm_value = 500
for motor_port_registers in MotorControlRegisters:
motor_port_name = motor_port_registers.name
motor_registers = motor_port_registers.value
mode_1_register = motor_registers[MotorRegisterTypes.MODE_1_RPM]
# create instance
controller = EncoderMotorController(port=motor_port_name)
controller.set_control_mode = Mock()
controller.control_mode = Mock()
controller.control_mode.return_value = MotorControlModes.MODE_1
# 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 = rpm_value
# test
controller.set_rpm_control(rpm_value)
write_word_mock.assert_called_with(mode_1_register,
rpm_value,
little_endian=True,
signed=True)
self.assertEquals(controller.rpm_control(), rpm_value)
read_signed_word_mock.assert_called_with(mode_1_register,
little_endian=True)
def test_rpm_control_returns_none_if_not_on_mode_1(self):
"""rpm_control() returns None if not on Mode 1."""
controller = EncoderMotorController(port="M1")
mode_mock = controller.control_mode = Mock()
for mode in (MotorControlModes.MODE_0, MotorControlModes.MODE_2):
mode_mock.return_value = mode
self.assertEquals(controller.rpm_control(), None)