def test_to_degrees(self):
radians = [pi / 2, 3 * pi / 2, 2 * pi, pi / 4, pi, 4 * pi / 3]
angles = [90, 270, 360, 45, 180, 240]
encoders = Arm.radians_to_encoder(radians)
anglesOut = Arm.encoder_to_degrees(encoders)
for ix in range(len(angles)):
self.assertAlmostEqual(angles[ix], anglesOut[ix], 2, 'Angles should be equal ({})'.format(ix))
def __str__(self):
degrees = list(map(int, Arm.encoder_to_degrees(self.pos)))
return 'Encoders ({}) - Degrees ({}) - Velocity ({})'.format(
self.pos, degrees, self.speed)
