def test_initial_conditions():
test_0 = Angle()
test_180 = Angle(180)
test_big = Angle(540)
assert approx(0) == test_0
assert approx(180) == test_180
assert approx(180) == test_big
def test_adding_Angles_together():
test_0 = Angle()
test_180 = Angle(180)
test_negative_5 = Angle(-5)
result = test_0 + test_180
assert result == 180
result = test_0 + test_negative_5
assert result == 355
result += test_180
assert result == 175
def __init__(self):
self.azimuth = Angle()
self.elevation = Angle(0, 180)
self.base_correction = Angle(0, 180)
self.arm_correction = Angle(0, 180)
self.last_grav = (0, 0)
self.compass = Compass()
self.N_correction = 0
self.declination = 0
# self.set_true_north() # not needed as check grav is forced
self.check_gravity(True)
def check_gravity(self, forced=False):
changed = self.compass.check_gravity()
if changed or forced:
n_az, n_elev, garbage = self.compass.get_correction()
self.set_true_north()
self.last_grav = (n_az, n_elev)
self.arm_correction = Angle(0,180)
self.arm_correction += n_elev
def set_true_north(self):
self.N_correction = -1 * self.compass.N_correct
# N correction is measured relative to the device
self.declination = self.compass.declination
# Declination is measured in degrees CW from magnetic north
# to point to true north
self.base_correction = Angle(0, 180)
self.base_correction += self.N_correction
self.base_correction += self.declination
def elevation_add(self, angle):
angle = float(angle) # don't worry if you are passed a string number
total = self.elevation + angle
if 270 > total > 90: # Seperate out the angle change from the rotation mechanics
self.azimuth_add(180)
if 180 > total > 90:
print("{0:5.3f} and {1:5.3f} are greater than 90 when added together".format(float(self.elevation), angle))
print(total)
leftover = total - 90
self.elevation = Angle(90 - leftover, 180)
elif 270 > total > 180:
print("{0:5.3f} and {1:5.3f} are less than -90 when added together".format(self.elevation, angle))
leftover = total + 180
self.elevation = Angle(360 - leftover, 180)
else:
self.elevation += angle
def elevation_set(self, angle):
angle = float(angle) # don't worry if you are passed a string number
self.elevation = Angle(angle, 180)
self.elevation_add(self.arm_correction)
def azimuth_set(self, angle):
angle = float(angle) # don't worry if you are passed a string number
self.azimuth = Angle(angle)
self.azimuth_add(self.base_correction.angle)
def test_addition_and_subtraction():
test = Angle()
assert (test + 5) == 5 # angles add
assert (test + 365) == 5 # angles overflow when adding
assert (test - 5) == 355 # angles underflow when subtracting
assert (test + -5) == 355 # angles underflow when adding a negative