class Powertrain:
def __init__(self) -> None:
self._joystick = Joystick(FORWARD_PIN, REVERSE_PIN, LEFT_PIN,
RIGHT_PIN)
self._left_ramp = Ramp(RAMP_SIZE, RAMP_BREAK_FACTOR)
self._right_ramp = Ramp(RAMP_SIZE, RAMP_BREAK_FACTOR)
self._left_motor_controler = MotorControler(LEFT_MOTOR_PWM,
LEFT_MOTOR_A, LEFT_MOTOR_B)
self._right_motor_controler = MotorControler(RIGHT_MOTOR_PWM,
RIGHT_MOTOR_A,
RIGHT_MOTOR_B)
def loop(self):
start_time = time.ticks_ms()
while True:
try:
# delta = time.ticks_diff(time.ticks_ms(), start_time)
# print("delta", delta)
delta = 10
left_direction, right_direction = self._joystick.get()
print("direction", left_direction, right_direction)
self._left_ramp.update(left_direction, delta)
self._right_ramp.update(right_direction, delta)
left_consign = self._left_ramp.get_normalized(750)
self._left_motor_controler.set(left_consign)
right_consign = self._right_ramp.get_normalized(750)
self._right_motor_controler.set(right_consign)
print("")
time.sleep_ms(10)
except Exception as e:
print(e)
start_time = time.ticks_ms()
class TestRamp(unittest.TestCase):
def setUp(self) -> None:
self.r = Ramp(10)
def test_forward_1(self):
self.r.update(1, 1)
result = self.r.get()
expected = 1
self.assertEqual(result, expected)
def test_forward_2(self):
self.r.update(1, 1)
self.r.update(1, 10)
result = self.r.get()
expected = 10
self.assertEqual(result, expected)
def test_forward_release_1(self):
self.r.update(1, 5)
self.r.update(0, 3)
result = self.r.get()
expected = 2
self.assertEqual(result, expected)
def test_forward_release_2(self):
self.r.update(1, 5)
self.r.update(0, 6)
result = self.r.get()
expected = 0
self.assertEqual(result, expected)
def test_forward_brake_1(self):
self.r.update(1, 7)
self.r.update(-1, 3)
result = self.r.get()
expected = 1
self.assertEqual(result, expected)
def test_forward_brake_2(self):
self.r.update(1, 5)
self.r.update(-1, 6)
result = self.r.get()
expected = -7
self.assertEqual(result, expected)
def test_reverse_1(self):
self.r.update(-1, 1)
result = self.r.get()
expected = -1
self.assertEqual(result, expected)
def test_reverse_2(self):
self.r.update(-11, 1)
self.r.update(-1, 10)
result = self.r.get()
expected = -10
self.assertEqual(result, expected)
def test_reverse_release_1(self):
self.r.update(-1, 5)
self.r.update(0, 3)
result = self.r.get()
expected = -2
self.assertEqual(result, expected)
def test_reverse_release_2(self):
self.r.update(-1, 5)
self.r.update(0, 6)
result = self.r.get()
expected = 0
self.assertEqual(result, expected)
def test_reverse_brake_1(self):
self.r.update(-1, 7)
self.r.update(1, 3)
result = self.r.get()
expected = -1
self.assertEqual(result, expected)
def test_reverse_brake_2(self):
self.r.update(-1, 5)
self.r.update(1, 6)
result = self.r.get()
expected = 7
self.assertEqual(result, expected)
def test_get_normalized(self):
self.r.update(1, 10)
result = self.r.get_normalized()
expected = 1023
self.assertEqual(result, expected)