def test_backdrive_manual():
ba = BoulderAutomation()
ba.intake = MagicMock()
ba.shooter = MagicMock()
setup_tunables(ba, "boulder_automation")
ba.engage("backdrive_manual")
ba.execute()
assert ba.intake.backdrive_slow.called
assert ba.shooter.backdrive_recovery.called
ba.done()
def test_backdrive_manual():
ba = BoulderAutomation()
ba.intake = MagicMock()
ba.shooter = MagicMock()
setup_tunables(ba, "boulder_automation")
ba.engage("backdrive_manual")
ba.execute()
assert ba.intake.backdrive_slow.called
assert ba.shooter.backdrive_recovery.called
ba.done()
def test_toggle_shoot_boulder():
ba = BoulderAutomation()
ba.intake = MagicMock()
ba.shooter = MagicMock()
setup_tunables(ba, "boulder_automation")
assert not ba.current_state
ba.toggle_shoot_boulder()
ba.execute()
assert ba.current_state
ba.toggle_shoot_boulder()
ba.execute()
assert not ba.current_state
def test_toggle_shoot_boulder():
ba = BoulderAutomation()
ba.intake = MagicMock()
ba.shooter = MagicMock()
setup_tunables(ba, "boulder_automation")
assert not ba.current_state
ba.toggle_shoot_boulder()
ba.execute()
assert ba.current_state
ba.toggle_shoot_boulder()
ba.execute()
assert not ba.current_state
