def test_turn_motor_backwards(self):
mock_parallel = mock.Mock()
stepper = StepperMotor(self.MOTOR_INPUTS)
stepper.parallel_interface = mock_parallel
# turn -2.5 x rotation (24) == 60 x steps
new_state = stepper.turn_motor(-2.5)
self.assertEqual(new_state, 12)
self.assertEqual(mock_parallel.setData.call_count, 60)
# check last few steps were correct, going backwards to half a turn
self.assertEqual([c[0][0] for c in mock_parallel.setData.call_args_list[-3:]], [0x09, 0x0B, 0x0A])
def test_stepper_generator_forward_rollover(self):
# test going over the end
stepper = StepperMotor(self.MOTOR_INPUTS, state=21)
gen1 = stepper.stepper_generator(10)
self.assertEqual(gen1.next(), 0x09)
self.assertEqual(stepper.state, 22)
self.assertEqual(gen1.next(), 0x0D)
self.assertEqual(stepper.state, 23)
self.assertEqual(gen1.next(), 0x05)
self.assertEqual(stepper.state, 0)
self.assertEqual(gen1.next(), 0x07)
self.assertEqual(stepper.state, 1)
def test_turn_motor_nowhere(self):
"Ensure that 0 cycles doens't break!"
mock_parallel = mock.Mock()
stepper = StepperMotor(self.MOTOR_INPUTS, state=11)
stepper.parallel_interface = mock_parallel
# turn 0 x rotation == 0 x steps
new_state = stepper.turn_motor(0)
# stayed at offset 11
self.assertEqual(new_state, 11)
self.assertEqual(mock_parallel.setData.call_count, 0)
self.assertEqual(mock_parallel.setData.call_args, None)
def test_stepper_generator_forward_rollover(self):
# test going over the end
stepper = StepperMotor(self.MOTOR_INPUTS, state=21)
gen1 = stepper.stepper_generator(10)
self.assertEqual(gen1.next(), 0x09)
self.assertEqual(stepper.state, 22)
self.assertEqual(gen1.next(), 0x0D)
self.assertEqual(stepper.state, 23)
self.assertEqual(gen1.next(), 0x05)
self.assertEqual(stepper.state, 0)
self.assertEqual(gen1.next(), 0x07)
self.assertEqual(stepper.state, 1)
def test_turn_motor_nowhere(self):
"Ensure that 0 cycles doens't break!"
mock_parallel = mock.Mock()
stepper = StepperMotor(self.MOTOR_INPUTS, state=11)
stepper.parallel_interface = mock_parallel
# turn 0 x rotation == 0 x steps
new_state = stepper.turn_motor(0)
# stayed at offset 11
self.assertEqual(new_state, 11)
self.assertEqual(mock_parallel.setData.call_count, 0)
self.assertEqual(mock_parallel.setData.call_args, None)
def test_stepper_generator_forward(self):
stepper = StepperMotor(self.MOTOR_INPUTS, state=0)
gen1 = stepper.stepper_generator(4)
self.assertEqual(gen1.next(), 0x07)
self.assertEqual(stepper.state, 1)
self.assertEqual(gen1.next(), 0x06)
self.assertEqual(stepper.state, 2)
self.assertEqual(gen1.next(), 0x0E)
self.assertEqual(stepper.state, 3)
self.assertEqual(gen1.next(), 0x0A)
self.assertEqual(stepper.state, 4)
# generator has now expired
self.assertRaises(StopIteration, gen1.next)
def test_turn_motor_backwards(self):
mock_parallel = mock.Mock()
stepper = StepperMotor(self.MOTOR_INPUTS)
stepper.parallel_interface = mock_parallel
# turn -2.5 x rotation (24) == 60 x steps
new_state = stepper.turn_motor(-2.5)
self.assertEqual(new_state, 12)
self.assertEqual(mock_parallel.setData.call_count, 60)
# check last few steps were correct, going backwards to half a turn
self.assertEqual(
[c[0][0] for c in mock_parallel.setData.call_args_list[-3:]],
[0X09, 0X0B, 0x0A])
def test_stepper_generator_forward(self):
stepper = StepperMotor(self.MOTOR_INPUTS, state=0)
gen1 = stepper.stepper_generator(4)
self.assertEqual(gen1.next(), 0x07)
self.assertEqual(stepper.state, 1)
self.assertEqual(gen1.next(), 0x06)
self.assertEqual(stepper.state, 2)
self.assertEqual(gen1.next(), 0x0E)
self.assertEqual(stepper.state, 3)
self.assertEqual(gen1.next(), 0x0A)
self.assertEqual(stepper.state, 4)
# generator has now expired
self.assertRaises(StopIteration, gen1.next)
def test_turn_motor(self):
mock_parallel = mock.Mock()
stepper = StepperMotor(self.MOTOR_INPUTS, state=2)
stepper.parallel_interface = mock_parallel
# turn 1 x rotation == 24 x steps
new_state = stepper.turn_motor(1)
# returned to state 2 (starting point)
self.assertEqual(new_state, 2)
# called parallel 24 times for full cycle
self.assertEqual(mock_parallel.setData.call_count, 24)
# test the last few commands were forwards
##mock_parallel.setData.assert_has_calls(self.MOTOR_INPUTS[3:] + self.MOTOR_INPUTS[:3])
self.assertEqual([c[0][0] for c in mock_parallel.setData.call_args_list[-4:]], [0x0D, 0x05, 0x07, 0x06])
def test_turn_motor(self):
mock_parallel = mock.Mock()
stepper = StepperMotor(self.MOTOR_INPUTS, state=2)
stepper.parallel_interface = mock_parallel
# turn 1 x rotation == 24 x steps
new_state = stepper.turn_motor(1)
# returned to state 2 (starting point)
self.assertEqual(new_state, 2)
# called parallel 24 times for full cycle
self.assertEqual(mock_parallel.setData.call_count, 24)
# test the last few commands were forwards
##mock_parallel.setData.assert_has_calls(self.MOTOR_INPUTS[3:] + self.MOTOR_INPUTS[:3])
self.assertEqual(
[c[0][0] for c in mock_parallel.setData.call_args_list[-4:]],
[0x0D, 0X05, 0X07, 0x06])
def test_stepper_generator_reverse(self):
stepper = StepperMotor(self.MOTOR_INPUTS, state=3)
gen1 = stepper.stepper_generator(-6)
self.assertEqual(gen1.next(), 0x06)
self.assertEqual(stepper.state, 2)
self.assertEqual(gen1.next(), 0x07)
self.assertEqual(stepper.state, 1)
self.assertEqual(gen1.next(), 0x05)
self.assertEqual(stepper.state, 0)
self.assertEqual(gen1.next(), 0x0D) # end of 24 positions
self.assertEqual(stepper.state, 23)
self.assertEqual(gen1.next(), 0x09)
self.assertEqual(stepper.state, 22)
self.assertEqual(gen1.next(), 0x0B)
self.assertEqual(stepper.state, 21)
# generator has now expired
self.assertRaises(StopIteration, gen1.next)
def test_stepper_generator_reverse(self):
stepper = StepperMotor(self.MOTOR_INPUTS, state=3)
gen1 = stepper.stepper_generator(-6)
self.assertEqual(gen1.next(), 0x06)
self.assertEqual(stepper.state, 2)
self.assertEqual(gen1.next(), 0x07)
self.assertEqual(stepper.state, 1)
self.assertEqual(gen1.next(), 0x05)
self.assertEqual(stepper.state, 0)
self.assertEqual(gen1.next(), 0x0D) # end of 24 positions
self.assertEqual(stepper.state, 23)
self.assertEqual(gen1.next(), 0x09)
self.assertEqual(stepper.state, 22)
self.assertEqual(gen1.next(), 0x0B)
self.assertEqual(stepper.state, 21)
# generator has now expired
self.assertRaises(StopIteration, gen1.next)
