def test_set_speed(): shooter = Shooter() shooter.shooter_motor = MagicMock() shooter.start_shoot() shooter.execute() assert shooter._speed != 0.0 shooter.shooter_motor.setFeedbackDevice.assert_called_once_with(CANTalon.FeedbackDevice.QuadEncoder) assert shooter.shooter_motor.set.called
def test_changed_speed(): shooter = Shooter() shooter.shooter_motor = MagicMock() shooter.start_shoot() shooter.execute() shooter.execute() # Setpoint for Talon SRX should only get called once assert shooter.shooter_motor.set.call_count == 1
def test_stop(): shooter = Shooter() shooter.shooter_motor = MagicMock() shooter._speed = 12345 shooter.stop() shooter.execute() assert shooter._speed == 0.0 assert shooter.shooter_motor.set.called
def test_toggle(): shooter = Shooter() shooter.shooter_motor = MagicMock() shooter.state = States.off shooter.changed_state = False shooter.toggle() shooter.execute() shooter.execute() assert shooter._speed != 0.0 shooter.state = States.shooting shooter.changed_state = False shooter.execute() shooter.toggle() shooter.execute() shooter.execute() assert shooter._speed == 0.0 assert shooter.shooter_motor.set.call_count == 2
def test_backdrive(): shooter = Shooter() shooter.shooter_motor = MagicMock() shooter.state = States.backdriving shooter.execute() assert shooter._speed >= 0.0