def test_pid_return(self): control = Control() result = control.pid() self.assertIsInstance(result, tuple) self.assertEqual(6, len(result)) self.assertIsInstance(result[0], int) self.assertIsInstance(result[1], int) self.assertIsInstance(result[2], int) self.assertIsInstance(result[3], int) self.assertIsInstance(result[4], int) self.assertIsInstance(result[5], int) self.assertEqual(0, result[0]) self.assertEqual(0, result[1]) self.assertEqual(0, result[2]) self.assertEqual(0, result[3]) self.assertEqual(0, result[4]) self.assertEqual(0, result[5])
def test_pid_no_return(self): control = Control() result = control.pid(0) self.assertIsNone(result) result = control.pid(0, 0) self.assertIsNone(result) result = control.pid(0, 0, 0) self.assertIsNone(result) result = control.pid(0, 0, 0, 0) self.assertIsNone(result) result = control.pid(0, 0, 0, 0, 0) self.assertIsNone(result) result = control.pid(0, 0, 0, 0, 0, 0) self.assertIsNone(result)