def test_state(self):
base = DriveBase(Motor(Port.A), Motor(Port.B), 0, 0)
result = base.state()
self.assertIsInstance(result, tuple)
self.assertEqual(len(result), 4)
self.assertIsInstance(result[0], int)
self.assertIsInstance(result[1], int)
self.assertIsInstance(result[2], int)
self.assertIsInstance(result[3], int)
self.assertEqual(result[0], 0)
self.assertEqual(result[1], 0)
self.assertEqual(result[2], 0)
self.assertEqual(result[3], 0)
def test_run_until_stalled(self):
motor = Motor(Port.A)
result = motor.run_until_stalled(100)
self.assertIsInstance(result, int)
self.assertEqual(0, result)
result = motor.run_until_stalled(100, Stop.HOLD)
self.assertIsInstance(result, int)
self.assertEqual(0, result)
result = motor.run_until_stalled(100, Stop.HOLD, 50)
self.assertIsInstance(result, int)
self.assertEqual(0, result)
def test_constructor(self):
self.assertRaises(ValueError, Motor, Port.S1)
self.assertRaises(ValueError, Motor, Port.S2)
self.assertRaises(ValueError, Motor, Port.S3)
self.assertRaises(ValueError, Motor, Port.S4)
try:
Motor(Port.A)
Motor(Port.B)
Motor(Port.C)
Motor(Port.D)
except:
self.fail()
try:
Motor(Port.A, Direction.COUNTERCLOCKWISE, [1, 2])
Motor(Port.A, Direction.COUNTERCLOCKWISE, [[1, 2], [2, 4]])
except:
self.fail()
def test_drive(self):
base = DriveBase(Motor(Port.A), Motor(Port.B), 0, 0)
self.assertIsNone(base.drive(0, 0))
def test_stop(self):
base = DriveBase(Motor(Port.A), Motor(Port.B), 0, 0)
self.assertIsNone(base.stop())
def test_turn(self):
base = DriveBase(Motor(Port.A), Motor(Port.B), 0, 0)
self.assertIsNone(base.turn(0))
def test_settings_no_return(self):
base = DriveBase(Motor(Port.A), Motor(Port.B), 0, 0)
self.assertIsNone(base.settings(0))
self.assertIsNone(base.settings(0, 0))
self.assertIsNone(base.settings(0, 0, 0))
self.assertIsNone(base.settings(0, 0, 0, 0))
def test_track_target(self):
motor = Motor(Port.A)
self.assertIsNone(motor.track_target(100))
def test_controls(self):
base = DriveBase(Motor(Port.A), Motor(Port.B), 0, 0)
self.assertIsInstance(base.distance_control, Control)
self.assertIsInstance(base.heading_control, Control)
def test_constructor(self):
try:
DriveBase(Motor(Port.A), Motor(Port.B), 0, 0)
except:
self.fail()
def test_brake(self):
motor = Motor(Port.A)
self.assertIsNone(motor.brake())
def test_run_target(self):
motor = Motor(Port.A)
self.assertIsNone(motor.run_target(100, 100))
self.assertIsNone(motor.run_target(100, 100, Stop.HOLD))
self.assertIsNone(motor.run_target(100, 100, Stop.HOLD, False))
def test_reset_angle(self):
motor = Motor(Port.A)
self.assertIsNone(motor.reset_angle(100))
def test_run_angle(self):
motor = Motor(Port.A)
self.assertIsNone(motor.run_angle(100, 100))
self.assertIsNone(motor.run_angle(100, 100, Stop.COAST))
self.assertIsNone(motor.run_angle(100, 100, Stop.COAST, False))
def test_run(self):
motor = Motor(Port.A)
self.assertIsNone(motor.run(100))
def test_hold(self):
motor = Motor(Port.A)
self.assertIsNone(motor.hold())
def test_angle(self):
base = DriveBase(Motor(Port.A), Motor(Port.B), 0, 0)
result = base.angle()
self.assertIsInstance(result, int)
self.assertEqual(result, 0)
def test_angle(self):
motor = Motor(Port.A)
result = motor.angle()
self.assertIsInstance(result, int)
self.assertEqual(0, result)
def test_dc(self):
motor = Motor(Port.A)
self.assertIsNone(motor.dc(100))
def test_stop(self):
motor = Motor(Port.A)
self.assertIsNone(motor.stop())
def test_reset(self):
base = DriveBase(Motor(Port.A), Motor(Port.B), 0, 0)
self.assertIsNone(base.reset())
def test_speed(self):
motor = Motor(Port.A)
result = motor.speed()
self.assertIsInstance(result, int)
self.assertEqual(0, result)