def test_up_to_speed():
shooter = Shooter()
shooter.shoter_motor = MagicMock()
# test error condition
shooter.shooter_motor.get = MagicMock(
return_value=(Shooter.max_speed * Shooter.shoot_percentage / 2.0) +
1.0)
shooter.shooter_motor.getSetpoint = MagicMock(
return_value=Shooter.max_speed * Shooter.shoot_percentage)
shooter.shooter_motor.getClosedLoopError = MagicMock(return_value=0.03 *
Shooter.max_speed)
assert not shooter.up_to_speed()
shooter.shooter_motor.getClosedLoopError = MagicMock(return_value=0.02 *
Shooter.max_speed)
assert shooter.up_to_speed()
# test that we are at least half of setpoint
shooter.shooter_motor.getSetpoint = MagicMock(
return_value=Shooter.max_speed * Shooter.shoot_percentage)
shooter.shooter_motor.getClosedLoopError = MagicMock(return_value=0.02 *
Shooter.max_speed)
shooter.shooter_motor.get = MagicMock(
return_value=(Shooter.max_speed * Shooter.shoot_percentage / 2.0))
assert not shooter.up_to_speed()
shooter.shooter_motor.get = MagicMock(
return_value=(Shooter.max_speed * Shooter.shoot_percentage / 2.0) +
1.0)
assert shooter.up_to_speed()
def test_control_methods():
shooter = Shooter()
shooter.shooter_motor = MagicMock()
shooter.shooter_motor.set = MagicMock()
shooter.shoot()
shooter.shooter_motor.set.assert_called_with(-Shooter.max_speed *
Shooter.shoot_percentage)
shooter.backdrive()
shooter.shooter_motor.set.assert_called_with(Shooter.max_speed * 0.01)
shooter.backdrive_recovery()
shooter.shooter_motor.set.assert_called_with(Shooter.max_speed * 1.0)
shooter.stop()
shooter.shooter_motor.set.assert_called_with(0.0)
