def __init__(self, mode='power'):
"""Run superclass's init, build motor abstraction object."""
super(OmniDriver, self).__init__()
# Create motor objects
motor_config = self.config['dmcc_drive_motors']
self.motors = DMCCMotorSet(motor_config)
self.mode = mode
def setUp(self):
"""Setup test hardware files and build motor object."""
config = path.dirname(path.realpath(__file__)) + "/test_config.yaml"
self.config = lib.get_config(config)
self.logger = lib.get_logger()
self.logger.info("Running {}()".format(self._testMethodName))
motor_conf = self.config['dmcc_drive_motors']
self.motor_set = DMCCMotorSet(motor_conf)
def test_power_invert(self):
"""Test the effect of setting inverted power mode"""
motor_conf = self.config['dmcc_inverted']
motor_set = DMCCMotorSet(motor_conf)
normal = motor_set['normal_motor']
inverted = motor_set['inverted_motor']
normal.power = 25
self.assertEqual(normal._power, 25)
inverted.power = 25
self.assertEqual(inverted._power, -25)
def test_bad_config(self):
motor_conf = self.config['dmcc_bad_motor_def']
with self.assertRaises(KeyError):
DMCCMotorSet(motor_conf)
def test_multiple_config(self):
drive_conf = self.config['dmcc_drive_motors']
drive_motor_set = DMCCMotorSet(drive_conf)
self.assertEqual(len(drive_motor_set.motors), 4)
def test_instantiate(self):
conf = {'a_motor': {'board_num': 0, 'motor_num': 1}}
motor_set = DMCCMotorSet(conf)
self.assertIsInstance(motor_set['a_motor'], DMCCMotor)