def testForward100Percent(self, mock_class):
#mock_class.is_output.return_value = True
m = Motor(Motor_0_Pins)
self.assertTrue(m.gpio.set_low.called, "Expect a call to set_low")
m.forward(100)
m.gpio.set_high.assert_called_with(Motor_0_Pins.pwm)
def testEncoderInput2(self):
# Check what we receive from the second encoder input when the motor turns.
m = Motor()
e = Encoder()
m.forward()
self.assertTrue(e.get_input(2))
m.stop()
m.backward()
self.assertTrue(e.get_input(2))
def testEncoderInput1(self):
# We check what we receive from the first input when the motor turns.
m = Motor()
e = Encoder()
m.forward()
self.assertTrue(e.get_input(1))
m.stop()
m.backward()
self.assertTrue(e.get_input(1))
def testMotorInitialisation(self, mock_class):
m = Motor(Motor_0_Pins)
calls = [
unittest.mock.call(Motor_0_Pins.current),
unittest.mock.call(Motor_0_Pins.direction),
unittest.mock.call(Motor_0_Pins.pwm)
]
m.gpio.set_low.assert_has_calls(calls)
def testEncoderForward(self):
# The combination of the 2 inputs provide a 0-3 binary count, the sequence in which the values
# appear indicates the direction of the motor.
m = Motor()
e = Encoder()
m.forward()
values = []
for x in range(100):
values.append(e.get_value())
m.stop()
def create_required_motors(self):
return {
DriveSystem.MotorPosition.left: Motor(),
DriveSystem.MotorPosition.right: Motor()
}
def testCurrentIncreaseWithHigherOutput(self):
m = Motor()
m.forward(20)
drain = m.current_drain()
self.assertGreater(
drain, 0,
"The current drain should not be 0 when the motor is running")
m.forward(40)
self.assertGreater(
m.current_drain(), drain,
"The current drain should be greater at 40% than at 20%")
drain = m.current_drain()
m.forward(60)
self.assertGreater(
m.current_drain(), drain,
"The current drain should be greater at 60% than at 40%")
drain = m.current_drain()
m.forward(80)
self.assertGreater(
m.current_drain(), drain,
"The current drain should be greater at 80% than at 60%")
drain = m.current_drain()
m.forward(100)
self.assertGreater(
m.current_drain(), drain,
"The current drain should be greater at 100% than at 80%")
m.stop()
def testBackward50Percent(self):
m = Motor()
m.backward(50)
self.assertGreater(
m.current_drain(), 0,
"The current drain should not be 0 when the motor is running")