def test_drivetrain_half_speed(hal_data, robot, left_speed, right_speed, left_ex_speed, right_ex_speed):
dt = Drivetrain(robot, None, '../tests/test_configs/drivetrain_half_speed.ini')
assert dt != None
assert dt._left_motor != None
assert dt._right_motor != None
assert dt._robot_drive != None
assert dt._max_speed == 0.5
dt.tankDrive(left_speed, right_speed)
assert abs(hal_data['pwm'][1]['value']) - abs(left_ex_speed) < 0.05
assert abs(hal_data['pwm'][2]['value']) - abs(right_ex_speed) < 0.05
def test_drivetrain_zero_speed(hal_data, robot, left_speed, right_speed, left_ex_speed, right_ex_speed):
dt = Drivetrain(robot, None, '../tests/test_configs/drivetrain_zero_speed.ini')
assert dt != None
assert dt._left_motor != None
assert dt._right_motor != None
assert dt._robot_drive != None
assert dt._max_speed == 0.0
dt.tankDrive(left_speed, right_speed)
assert hal_data['pwm'][1]['value'] == left_ex_speed
assert hal_data['pwm'][2]['value'] == right_ex_speed
