def test_modes(): intake = Intake() intake.intake_motor=MagicMock() intake.intake_motor.changeControlMode = MagicMock() intake.intake_motor.setPID = MagicMock() intake.intake_motor.setPosition = MagicMock() intake.feeder_motor = MagicMock() #speed mode intake.speed_mode() intake.intake_motor.changeControlMode.assert_called_with(CANTalon.ControlMode.Speed) assert intake.intake_motor.setPID.called #position mode intake.position_mode() intake.intake_motor.changeControlMode.assert_called_with(CANTalon.ControlMode.Position) assert intake.intake_motor.setPID.called intake.intake_motor.setPosition.assert_called_with(0.0)
def test_control_methods(): intake = Intake() intake.intake_motor = MagicMock() intake.intake_motor.set = MagicMock() intake.feeder_motor = MagicMock() intake.feeder_motor.set = MagicMock() intake.speed_mode = MagicMock() intake.position_mode = MagicMock() intake.intake() intake.intake_motor.set.assert_called_with(0.7*Intake.max_speed) assert intake.speed_mode.called intake.backdrive_slow() intake.intake_motor.set.assert_called_with(-0.5*Intake.max_speed) assert intake.speed_mode.called intake.backdrive_pin() intake.intake_motor.set.assert_called_with(-0.3*Intake.max_speed) assert intake.speed_mode.called intake.stop() intake.intake_motor.set.assert_called_with(0.0) assert intake.speed_mode.called intake.jam() intake.intake_motor.set.assert_called_with(-1000) assert intake.position_mode.called