def __init__(self, bus):
m1 = MotorDriver(Motors.MOTOR1, bus, 0.1)
m11 = MotorDriver(Motors.MOTOR2, bus, 0.1)
m2 = MotorDriver(Motors.MOTOR3, bus, 0.1)
m22 = MotorDriver(Motors.MOTOR4, bus, 0.1)
self.left = m1, m11
self.right = m2, m22
def test_brake_state_property(self):
bus = Mock()
drv = MotorDriver(0, bus, 0)
self.assertFalse(drv.brake_state)
drv.set(0.5)
self.assertFalse(drv.brake_state)
drv.brake()
self.assertTrue(drv.brake_state)
drv.set(0)
self.assertFalse(drv.brake_state)
def min_speed(self):
bus = Mock()
drv = MotorDriver(0, bus, 0.5)
drv.set(0.3)
self.assertEqual(drv.speed, 0.5)
drv.set(-0.3)
self.assertEqual(drv.speed, 0.5)
def test_voltage_property(self):
bus = Mock()
drv = MotorDriver(0, bus, 0)
drv.set(0.5)
self.assertAlmostEqual(drv.voltage, 2.73, places=2)
drv.set(1)
self.assertAlmostEqual(drv.voltage, 5.06, places=2)
def test_set_backward(self):
bus = Mock()
drv = MotorDriver(0, bus, 0)
drv.set(-1)
bus.write_byte_data.assert_called_with(0, 0, 0b11111110)
drv.set(-0.5)
bus.write_byte_data.assert_called_with(0, 0, 0b10001010)
def test_direction_property(self):
bus = Mock()
drv = MotorDriver(0, bus, 0)
self.assertEqual(drv.direction, 0)
drv.set(-0.5)
self.assertEqual(drv.direction, -1)
drv.set(0.5)
self.assertEqual(drv.direction, 1)
def test_speed_property(self):
bus = Mock()
drv = MotorDriver(0, bus, 0)
self.assertEqual(drv.speed, 0)
drv.set(0.5)
self.assertEqual(drv.speed, 0.5)
drv.set(-0.5)
self.assertEqual(drv.speed, 0.5)
def test_creation(self):
MotorDriver(0, Mock(), 0)
def test_brake(self):
bus = Mock()
drv = MotorDriver(0, bus, 0)
drv.brake()
bus.write_byte_data.assert_called_with(0, 0, 0b00000011)
def test_set_zero(self):
bus = Mock()
drv = MotorDriver(0, bus, 0)
drv.set(0)
bus.write_byte_data.assert_called_with(0, 0, 0b00011000)
import time
from smbus2 import SMBus
from pi_wars import drive_from_vector
from yrk_oo.motors import Motors, MotorDriver
if __name__ == "__main__":
with SMBus(13) as bus:
m1 = MotorDriver(Motors.MOTOR1, bus, 0.1)
m2 = MotorDriver(Motors.MOTOR4, bus, 0.1)
m11 = MotorDriver(Motors.MOTOR2, bus, 0.1)
m22 = MotorDriver(Motors.MOTOR3, bus, 0.1)
print("Drive forward")
m1_v, m2_v = drive_from_vector(0, 1)
m1.set(m1_v)
m11.set(m1_v)
m22.set(m2_v)
m2.set(m2_v)
time.sleep(3)
print("Turn")
m1_v, m2_v = drive_from_vector(1, 0)
m1.set(m1_v)
m11.set(m1_v)
m22.set(m2_v)
m2.set(m2_v)
time.sleep(1)
print("Drive backward")
m1_v, m2_v = drive_from_vector(0, -1)