def test_move_left(self, motor : Motor) :
position_before = 0
velocity_before = 0.0
motor.move_left(False)
while True :
self.assertTrue(motor.moving)
position = motor.position
acceleration = motor.acceleration
velocity = motor.velocity
self.assertLessEqual(position, position_before)
self.assertLessEqual(velocity, velocity_before)
self.assertLess(velocity, 0.0)
position_before = position
velocity_before = velocity
if -velocity == motor.velocity_moving :
break
self.assertEqual(acceleration, -motor.acceleration_moving)
self.assertTrue(motor.moving)
self.assertEqual(motor.velocity, -motor.velocity_moving)
motor.stop(False)
# Expects no overshoot.
while True :
acceleration = motor.acceleration
velocity = motor.velocity
position = motor.position
moving = motor.moving
if moving :
self.assertLess(velocity, 0.0)
self.assertEqual(acceleration, motor.acceleration_moving)
self.assertGreaterEqual(velocity, velocity_before)
self.assertLessEqual(position, position_before)
velocity_before = velocity
position_before = position
if not moving :
break
self.__test_stopped(motor)
def test_stop_left(self, motor : Motor) :
motor.move_left(False)
while motor.velocity > -motor.velocity_moving :
pass
motor.stop()
self.__test_stopped(motor)