def test_get_encoder(self):
enc = emotion.get_encoder("m0enc")
self.assertTrue(enc)
self.assertEquals(enc.steps_per_unit, 50)
m0 = emotion.get_axis("m0")
self.assertEquals(m0.encoder, enc)
m1 = emotion.get_axis("m1")
self.assertEquals(m1.encoder, None)
def test_maxee(self):
m1 = emotion.get_axis("m1")
m1.move(1)
self.assertEquals(m1.position(), 1)
m0 = emotion.get_axis("m0")
m0.dial(0); m0.position(0)
self.assertRaises(RuntimeError, m0.move, 1)
enc = emotion.get_encoder("m0enc")
enc.set(2)
m0.move(2)
self.assertEquals(m0.position(), 2)
def test_encoder_set_position(self):
myenc = emotion.get_encoder("myenc")
pos = 2.0 # given in mm
self.assertEqual(myenc.set(pos), pos)
def test_encoder_get_position(self):
myenc = emotion.get_encoder("myenc")
#myenc.controller.log_level(emotion.log.INFO)
pos = myenc.read()
def test_encoder_creation(self):
myenc = emotion.get_encoder("myenc")
self.assertTrue(myenc)
def test_tolerance(self):
enc = emotion.get_encoder("m0enc")
self.assertEquals(enc.tolerance, 0.001)
def test_encoder_set(self):
m0 = emotion.get_axis("m0")
enc = emotion.get_encoder("m0enc")
self.assertEquals(enc.set(133), 133)
def test_encoder_read(self):
m0 = emotion.get_axis("m0")
enc = emotion.get_encoder("m0enc")
self.assertEquals(enc.read(), m0.dial()/enc.steps_per_unit)
def test_encoder(self):
encA = emotion.get_encoder("encA")
self.assertTrue(encA)
print "PI_E517 encoder : ", encA.read()
