def test_then_returns_motor_state(self, mock_port_adapter):
dxl_id = 4
adapter = DynamixelAdapter(mock_port_adapter)
actual = adapter.read_state(dxl_id)
assert type(actual) == MotorState
def test_given_read_present_vel_int_1__then_returns_0_024(
self, mock_port_adapter):
dxl_id = 4
mock_port_adapter.read = MagicMock(return_value=1)
adapter = DynamixelAdapter(mock_port_adapter)
actual = adapter.read_state(dxl_id).velocity
assert 0.024 - actual < 0.01
def test_given_read_present_vel_int_1__then_returns_1(
self, mock_port_adapter):
dxl_id = 4
mock_port_adapter.read = MagicMock(return_value=1)
adapter = DynamixelAdapter(mock_port_adapter)
actual = adapter.read_state(dxl_id).velocity
assert actual == 1.0 * 0.229 * tau / 60.0 # converted to rad/s
def test_given_read_present_pos_int_2048_then_returns_radians_0(
self, mock_port_adapter):
dxl_id = 4
mock_port_adapter.read = MagicMock(return_value=2048)
adapter = DynamixelAdapter(mock_port_adapter)
actual = adapter.read_state(dxl_id).position
assert actual == 0.0