def test_index_redirection(self, open_package_mock): indexer = Indexer() indexer.add(['test']) indexer.message_cb('/actuator/test/index', 42) self.assertEqual(42, indexer.actuators[0].index_pos)
def test_index_redirection(self, open_package_mock): indexer = Indexer() indexer.add(['test']) indexer.message_cb('/actuator/test/position', 1) self.assertEqual(1.3, indexer.actuators[0].pos_setpoint) indexer.message_cb('/actuator/test/position', 1.3) self.assertAlmostEqual(0.7, indexer.actuators[0].pos_setpoint)
def test_ignores_small_changes(self, open_package_mock): indexer = Indexer() actuator = indexer.Actuator('test') indexer.index_callback(actuator, 0) indexer.index_callback(actuator, 0.05) self.assertFalse(actuator.stop) self.assertEqual(0, actuator.index_pos)
def test_case_with_zero(self, open_package_mock): indexer = Indexer() actuator = indexer.Actuator('test') actuator.pos_setpoint = 2 indexer.index_callback(actuator, 0) self.assertEqual(0.3, actuator.pos_setpoint) indexer.index_callback(actuator, 0.2) self.assertEqual(0.1, actuator.index_pos) self.assertTrue(actuator.stop)
def test_basic_case(self, open_package_mock): indexer = Indexer() actuator = indexer.Actuator('test') actuator.pos_setpoint = 2 indexer.index_callback(actuator, 1) self.assertEqual(1.3, actuator.pos_setpoint) indexer.index_callback(actuator, 1.2) self.assertEqual(1.1, actuator.index_pos) self.assertTrue(actuator.stop)
from homing_handler import Indexer indexer = Indexer() indexer.add(['left-shoulder', 'left-elbow', 'left-wrist']) print(indexer.start())
def test_can_create_indexer(self, open_package_mock): indexer = Indexer()
def test_can_create_indexer_actuator(self, open_package_mock): indexer = Indexer() actuator = indexer.Actuator('test')