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)