def test_target_tolerances_no_return(self): control = Control() result = control.target_tolerances(0) self.assertIsNone(result) result = control.target_tolerances(0, 0) self.assertIsNone(result)
def test_target_tolerances_return(self): control = Control() result = control.target_tolerances() self.assertIsInstance(result, tuple) self.assertEqual(2, len(result)) self.assertIsInstance(result[0], int) self.assertIsInstance(result[1], int) self.assertEqual(0, result[0]) self.assertEqual(0, result[1])
def test_limits_no_return(self): control = Control() result = control.limits(0) self.assertIsNone(result) result = control.limits(0, 0) self.assertIsNone(result) result = control.limits(0, 0, 0) self.assertIsNone(result)
def test_limits_return(self): control = Control() result = control.limits() self.assertIsInstance(result, tuple) self.assertEqual(3, len(result)) self.assertIsInstance(result[0], int) self.assertIsInstance(result[1], int) self.assertIsInstance(result[2], int) self.assertEqual(0, result[0]) self.assertEqual(0, result[1]) self.assertEqual(0, result[2])
def __init__(self, port: Port, positive_direction: Direction = Direction.CLOCKWISE, gears: Union[List[int], List[List[int]]] = None): if port == Port.S1 or port == Port.S2 or port == port.S3 or port == port.S4: raise ValueError("Motors must use Port A, B, C, or D.") self.control = Control() # type: Control
def test_pid_return(self): control = Control() result = control.pid() self.assertIsInstance(result, tuple) self.assertEqual(6, len(result)) self.assertIsInstance(result[0], int) self.assertIsInstance(result[1], int) self.assertIsInstance(result[2], int) self.assertIsInstance(result[3], int) self.assertIsInstance(result[4], int) self.assertIsInstance(result[5], int) self.assertEqual(0, result[0]) self.assertEqual(0, result[1]) self.assertEqual(0, result[2]) self.assertEqual(0, result[3]) self.assertEqual(0, result[4]) self.assertEqual(0, result[5])
def test_pid_no_return(self): control = Control() result = control.pid(0) self.assertIsNone(result) result = control.pid(0, 0) self.assertIsNone(result) result = control.pid(0, 0, 0) self.assertIsNone(result) result = control.pid(0, 0, 0, 0) self.assertIsNone(result) result = control.pid(0, 0, 0, 0, 0) self.assertIsNone(result) result = control.pid(0, 0, 0, 0, 0, 0) self.assertIsNone(result)
def test_done(self): control = Control() result = control.done() self.assertIsInstance(result, bool) self.assertFalse(result)
def test_scale_is_float(self): control = Control() self.assertIsInstance(control.scale, float)
def test_stalled(self): control = Control() result = control.stalled() self.assertIsInstance(result, bool) self.assertFalse(result)
def __init__(self, left_motor: Motor, right_motor: Motor, wheel_diameter: int, axle_track: int): self.distance_control = Control() # type: Control self.heading_control = Control() # type: Control