def test_calculateDuty(self):
filesystem = SysfsWriterDummy()
motor = Motor(0, 50.0).setSysfsWriter(filesystem)
duty = motor._calculateDuty(0.0)
self.assertEquals(duty, 1000000, "Wrong duty")
duty = motor._calculateDuty(50.0)
self.assertEquals(duty, 1500000, "Wrong duty")
duty = motor._calculateDuty(100.0)
self.assertEquals(duty, 2000000, "Wrong duty")
def testIdle(self):
filesystem = SysfsWriterDummy()
motor = Motor(0, 50.0).setSysfsWriter(filesystem)
motor.start()
motor.setThrottle(10.0)
throttle = motor.getThrottle()
self.assertEquals(throttle, 10.0, "Throttle wasn't properly set")
motor.idle()
throttle = motor.getThrottle()
self.assertEquals(throttle, 50.0, "Throttle wasn't properly set")
def _createMotor(self, motorId, sysfsWriterFactory):
'''
Creates a new motor instance
'''
if self._motorType == Configuration.VALUE_MOTOR_CLASS_LOCAL:
motor = Motor(motorId, Driver.NEUTRAL_THROTTLE)
if sysfsWriterFactory:
motor.setSysfsWriter(sysfsWriterFactory.create())
else: #default VALUE_MOTOR_CLASS_DUMMY
motor = MotorDummy(motorId, Driver.NEUTRAL_THROTTLE)
return motor
def testAddThrottle(self):
filesystem = SysfsWriterDummy()
motor = Motor(0, 50.0).setSysfsWriter(filesystem)
motor.start()
motor.setThrottle(10.0)
motor.addThrottle(15.0)
throttle = motor.getThrottle()
self.assertEquals(throttle, 25.0, "Throttle wasn't properly added")
def testStop(self):
filesystem = SysfsWriterDummy()
motor = Motor(0, 50.0).setSysfsWriter(filesystem)
motor.start()
motor.setThrottle(10.0)
throttle = motor.getThrottle()
self.assertEquals(throttle, 10.0, "Throttle wasn't properly set")
motor.stop()
throttle = motor.getThrottle()
self.assertEquals(throttle, 50.0,
"Throttle wasn't properly set at neutral value")
#pwm6 corresponds to the motor number 0
self.assertEquals(int(filesystem.read("/sys/class/pwm/pwm6/run")), 0,
"Motor wasn't properly stopped")
def testGetDuty(self):
filesystem = SysfsWriterDummy()
motor = Motor(0, 50.0).setSysfsWriter(filesystem)
motor.start()
motor.setThrottle(10.0)
duty = motor.getDuty()
self.assertEquals(duty, 1100000, "Duty wasn't properly returned")
def testSetThrottle(self):
filesystem = SysfsWriterDummy()
motor = Motor(0, 50.0).setSysfsWriter(filesystem)
motor.start()
motor.setThrottle(10.0)
throttle = motor.getThrottle()
duty = motor.getDuty()
self.assertEquals(throttle, 10.0, "Throttle wasn't properly set")
self.assertEquals(duty, 1100000, "Duty wasn't properly set")
#pwm6 corresponds to the motor number 0
self.assertEquals(int(filesystem.read("/sys/class/pwm/pwm6/duty_ns")),
1100000, "Duty wasn't properly written")
def testStart(self):
filesystem = SysfsWriterDummy()
motor = Motor(0, 50.0).setSysfsWriter(filesystem)
motor.start()
throttle = motor.getThrottle()
duty = motor.getDuty()
self.assertEquals(throttle, 50.0, "Incorrect throttle")
self.assertEquals(duty, 1500000, "Incorrect duty")
#pwm6 corresponds to the motor number 0
self.assertEquals(int(filesystem.read("/sys/class/pwm/pwm6/run")), 1,
"Motor not running")
self.assertEquals(
int(filesystem.read("/sys/class/pwm/pwm6/period_ns")), 20000000,
"Incorrect period")
self.assertEquals(int(filesystem.read("/sys/class/pwm/pwm6/duty_ns")),
1500000, "Motor not running")
from servo.motor import Motor
from time import time
from random import uniform
NEUTRAL_THROTTLE = Motor.MIN_THROTTLE + (Motor.MAX_THROTTLE -
Motor.MIN_THROTTLE) / 2.0
motor0 = Motor(0, NEUTRAL_THROTTLE)
motor1 = Motor(1, NEUTRAL_THROTTLE)
n = 0
motor0.start()
motor1.start()
startTime = time()
try:
while True:
n += 1
throttle0 = uniform(0.0, 100.0)
throttle1 = uniform(0.0, 100.0)
motor0.setThrottle(throttle0)
motor1.setThrottle(throttle1)
except KeyboardInterrupt:
pass
finally:
endTime = time()
motor0.stop()
motor1.stop()
dTime = endTime - startTime
avgTime = dTime / n
freq = 1.0 / avgTime
print("Avg. time={0}; f={1}".format(avgTime, freq))