def test_motor_mutability() -> None:
"""
Test the mutability of Motors.
Ensures that Motor objects cannot be lost.
"""
mb = MotorBoard("SERIAL0", MockMotorBoardBackend())
with pytest.raises(TypeError):
mb.motors[1] = 1 # type: ignore
def test_motor_board_make_safe() -> None:
"""Test the make_safe method of the motor board."""
mb = MotorBoard("SERIAL0", MockMotorBoardBackend())
for m in mb.motors:
m.power = 1
mb.make_safe()
for m in mb.motors:
assert m.power == MotorSpecialState.BRAKE
def test_motor_board_make_safe_option() -> None:
"""Test the default make_safe method of the motor board."""
TEST_SAFE_STATES: List[MotorState] = [
MotorSpecialState.BRAKE,
MotorSpecialState.COAST,
0,
0.1,
]
for safe_state in TEST_SAFE_STATES:
mb = MotorBoard("SERIAL0", MockMotorBoardBackend(), safe_state=safe_state)
for m in mb.motors:
m.power = 1
mb.make_safe()
for m in mb.motors:
assert m.power == safe_state
def test_motor_board_motors() -> None:
"""Test the motor_outputs on the motor board."""
mb = MotorBoard("SERIAL0", MockMotorBoardBackend())
for m in mb.motors:
assert type(m) is Motor
def test_motor_board_serial() -> None:
"""Test the serial attribute of the motor board."""
mb = MotorBoard("SERIAL0", MockMotorBoardBackend())
assert mb.serial == "SERIAL0"
def test_motor_board_name() -> None:
"""Test the name attribute of the motor board."""
mb = MotorBoard("SERIAL0", MockMotorBoardBackend())
assert mb.name == "Student Robotics v4 Motor Board"
def test_motor_board_firmware_version() -> None:
"""Test the firmware version on the motor board."""
mb = MotorBoard("SERIAL0", MockMotorBoardBackend())
assert mb.firmware_version is None
def test_motor_board_instantiation() -> None:
"""Test that we can instantiate a Motor Board."""
MotorBoard("SERIAL0", MockMotorBoardBackend())
def test_motor_board_supported_components() -> None:
"""Test the supported components on the motor board."""
assert MotorBoard.supported_components() == {Motor}