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