def test_rotate_right__stopped__wheels_must_go_sideways(self):
bot = get_fake_robot(left_wheels=[120], right_wheels=[30])
bot.right()
bot.execute()
for speed in bot.left_wheels.values():
assert speed == 1, "Left wheel speeds should go forward"
for speed in bot.right_wheels.values():
assert speed == -1, "Right wheel speeds should go back"
def test_move_forward__stopped__all_wheels_are_full_speed(self):
bot = get_fake_robot(left_wheels=[10], right_wheels=[-10])
bot.forward()
bot.execute()
for speed in bot.left_wheels.values():
assert speed == 1, "Left wheel speeds should be at full speed"
for speed in bot.right_wheels.values():
assert speed == 1, "Right wheel speeds should be at full speed"
def test_stop_bot__stopped__all_wheels_are_stopped(self):
bot = get_fake_robot(left_wheels=[10], right_wheels=[-10])
bot.stop()
bot.execute()
for speed in bot.left_wheels.values():
assert speed == 0, "Left wheel speeds should be 0 during stop"
for speed in bot.right_wheels.values():
assert speed == 0, "Right wheel speeds should be 0 during stop"
def test_move_backward_left__stopped__left_wheels_should_slow_down(self):
bot = get_fake_robot(left_wheels=[120], right_wheels=[30])
bot.backward()
bot.left()
bot.execute()
for speed in bot.left_wheels.values():
assert speed == -0.5, "Left wheel speeds should be at half speed"
for speed in bot.right_wheels.values():
assert speed == -2, "Right wheel speeds should be at full speed"