示例#1
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def test_absolute(robot):
    epsilon = 0.01  # Tolerance for angular floating point errors (~0.05 degrees)
    chassis = Chassis()
    reset_chassis(chassis)
    # Absolute argument should point the modules in the absolute direction
    # for diagnostic purposes
    chassis.drive(-1.0, -1.0, 0.0, absolute=True)
    for module in chassis._modules.values():
        assert abs(constrain_angle(module.direction + 3.0 / 4.0 * math.pi)) < epsilon
    reset_chassis(chassis)
示例#2
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def test_retain_wheel_direction():
    # When the joystick is returned to the centre, keep the last direction that the wheels were pointing
    chassis = Chassis()
    for name, module in chassis._modules.items():
        module.steer(math.pi / 4.0)
    chassis.drive(0.0, 0.0, 0.0)
    for name, module in chassis._modules.items():
        assert abs(constrain_angle(module.direction - math.pi / 4.0)) < epsilon
    # Should not matter what the throttle is, even if it is zero
    chassis.drive(0.0, 0.0, 0.0)
    for name, module in chassis._modules.items():
        assert abs(constrain_angle(module.direction - math.pi / 4.0)) < epsilon
示例#3
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def test_chassis(robot, wpilib):
    epsilon = 0.01  # Tolerance for angular floating point errors (~0.05 degrees)
    chassis = Chassis()

    # vX is out the left side of the robot, vY is out of the front, vZ is upwards, so a +ve rotation is counter-clockwise
    #             vX   vY   vZ   throttle
    reset_chassis(chassis)
    # test x axis
    chassis.drive(1.0, 0.0, 0.0, 1.0)
    for name, module in chassis._modules.items():
        assert abs(constrain_angle(module.direction)) % math.pi  < epsilon
    reset_chassis(chassis)

    # test y axis
    chassis.drive(0.0, 1.0, 0.0)
    for name, module in chassis._modules.items():
        # test weather each module is facing in the right direction
        assert abs(constrain_angle(math.pi / 2.0 - module.direction)) < epsilon
    reset_chassis(chassis)

    vz = {'a': math.atan2(-Chassis.length, Chassis.width),  # the angle that module a will go to if we spin on spot
          'b': math.atan2(Chassis.length, Chassis.width),
          'c': math.atan2(-Chassis.length, Chassis.width),
          'd': math.atan2(Chassis.length, Chassis.width)
          }

    chassis.drive(0.0, 0.0, 1.0)

    for name, module in chassis._modules.items():
        assert abs(constrain_angle(module.direction - vz[name])) < epsilon
    reset_chassis(chassis)

    chassis.drive(1.0, 1.0, 0.0)
    for module in chassis._modules.values():
        assert abs(constrain_angle(module.direction - math.pi / 4.0)) < epsilon
    reset_chassis(chassis)