def test_controller_update_with_adjusted_max_reverse(self, serial):
controller = RoboHATController(cfg, True)
controller.STOPPED_PWM = 1500
controller.MAX_REVERSE = 1200
controller.serial.readline.side_effect = [
b"1500, 1000\n", b"1500, 1250\n", b"1500, 1000\n", b"1500, 1250\n",
b"1500, 1500\n"
]
# 1500, 1000
controller.read_serial()
assert controller.angle == 0
assert controller.throttle == -1.0
# 1500, 1250
controller.read_serial()
assert controller.angle == 0
assert controller.throttle == -0.5
# 1500, 1000
controller.STOPPED_PWM = 1400
controller.read_serial()
assert controller.angle == 0
assert controller.throttle == -1.0
# 1500, 1250
controller.read_serial()
assert controller.angle == 0
assert controller.throttle == -0.5
# 1500, 1500
controller.read_serial()
assert controller.angle == 0
assert controller.throttle == 0
def test_controller_update_with_adjusted_mid_steering(self, serial):
controller = RoboHATController(cfg)
controller.STEERING_MID = 1450
controller.serial.readline.side_effect = [
b"1450, 1500\n", b"1500, 1500\n"
]
# 1450, 1500
controller.read_serial()
assert controller.angle == 0
assert controller.throttle == 0
# 1500, 1500
controller.read_serial()
# 1450 is the mid value. So the correct angle should be (1450-1500)/ (2000-1450)
assert controller.angle == -0.09
assert controller.throttle == 0
def test_controller_update_with_adjusted_max_throttle(self, serial):
'''
The adjusted MAX_FORWARD here should not affect the output throttle
value.
For example, when RC controller sending a 2000 value it means the user
want to go full speed. The throttle value should therefore be 1.0. It is
the RoboHATDriver responsibility to translate this 1.0 to an adjusted
pwm value.
'''
controller = RoboHATController(cfg, True)
controller.MAX_FORWARD = 1800
controller.STOPPED_PWM = 1500
controller.serial.readline.side_effect = [
b"1500, 2000\n", b"1500, 1500\n", b"1500, 1750\n"
]
# 1500, 2000
controller.read_serial()
assert controller.angle == 0
assert controller.throttle == 1.0
# 1500, 1500
controller.read_serial()
assert controller.angle == 0
assert controller.throttle == 0
# 1500, 1750
controller.read_serial()
assert controller.angle == 0
assert controller.throttle == 0.5
def test_controller_update(self, serial):
controller = RoboHATController(cfg)
# print("timeout = {}".format(seriala.timeout))
controller.serial.readline.side_effect = [
b"1500, 1500\n", b"2000, 1500\n", b"1600, 1600\n", b"2000, 2000\n",
b"1000, 1000\n", b"1200, 1200\n"
]
# 1500, 1500
controller.read_serial()
assert controller.angle == 0
assert controller.throttle == 0
# 2000, 1500
controller.read_serial()
assert controller.angle == -1.0
assert controller.throttle == 0
# 1600, 1600
controller.read_serial()
assert controller.angle == -0.2
assert controller.throttle == 0.2
# 2000, 2000
controller.read_serial()
assert controller.angle == -1.0
assert controller.throttle == 1.0
# 1000, 1000
controller.read_serial()
assert controller.angle == 1.0
assert controller.throttle == -1.0
# 1200, 1200
controller.read_serial()
assert controller.angle == 0.6
assert controller.throttle == -0.6
