def test_should_return_led(self):
expected_led = Pin(21)
led = Pin(21)
arm = Arm_partial(None, None, None, None, None, led)
current_led = arm.get_motor("l")
self.assertEquals(expected_led.value, current_led.value)
self.assertEquals(expected_led.number, current_led.number)
def test_should_return_gripper_motor(self):
expected_motor = Motor(5, 6)
gripper = Motor(5, 6)
arm = Arm_partial(None, None, None, None, gripper, None)
current_waist = arm.get_motor("g")
self.assertEquals(expected_motor.pin_a.number,
current_waist.pin_a.number)
self.assertEquals(expected_motor.pin_b.number,
current_waist.pin_b.number)
self.assertEquals(expected_motor.pin_a.value,
current_waist.pin_a.value)
self.assertEquals(expected_motor.pin_b.value,
current_waist.pin_b.value)
def test_should_return_wrist_motor(self):
expected_motor = Motor(16, 20)
wrist = Motor(16, 20)
arm = Arm_partial(None, None, None, wrist, None, None)
current_waist = arm.get_motor("u")
self.assertEquals(expected_motor.pin_a.number,
current_waist.pin_a.number)
self.assertEquals(expected_motor.pin_b.number,
current_waist.pin_b.number)
self.assertEquals(expected_motor.pin_a.value,
current_waist.pin_a.value)
self.assertEquals(expected_motor.pin_b.value,
current_waist.pin_b.value)
def test_should_return_elbow_motor(self):
expected_motor = Motor(17, 27)
elbow = Motor(17, 27)
arm = Arm_partial(None, None, elbow, None, None, None)
current_waist = arm.get_motor("e")
self.assertEquals(expected_motor.pin_a.number,
current_waist.pin_a.number)
self.assertEquals(expected_motor.pin_b.number,
current_waist.pin_b.number)
self.assertEquals(expected_motor.pin_a.value,
current_waist.pin_a.value)
self.assertEquals(expected_motor.pin_b.value,
current_waist.pin_b.value)
shoulder = Motor(23, 24)
elbow = Motor(17, 27)
wrist = Motor(16, 20)
gripper = Motor(5, 6)
led = Pin(21)
arm = Arm_partial(waist, shoulder, elbow, wrist, gripper, led)
while True:
primitive_joints = raw_input("enter a joints <(name direction value) ... > : ")
parser = Parser()
joints = parser.get_joints(primitive_joints)
for joint in joints:
motor = arm.get_motor(joint.name)
print "direction :" + joint.direction
control = Control(motor, executor, led)
if joint.direction == "l":
control.turn_left(float(joint.value))
elif joint.direction == "r":
control.turn_right(float(joint.value))
if joint.direction == "u":
control.turn_left(float(joint.value))
elif joint.direction == "d":
control.turn_right(float(joint.value))
if joint.direction == "o":
control.turn_left(float(joint.value))
def test_should_return_none_motor(self):
waist = Motor(13, 19)
arm = Arm_partial(waist, None, None, None, None, None)
current_waist = arm.get_motor("x")
self.assertIsNone(current_waist)