class TestMotor(unittest.TestCase):
get_input('Attach a motor on port A then continue')
def __init__(self, *args, **kwargs):
super(TestMotor, self).__init__(*args, **kwargs)
self.d = Motor(port=Motor.PORT.A)
def setUp(self):
self.d.reset()
def test_run(self):
self.d.run_mode = 'forever'
self.d.regulation_mode = True
self.d.pulses_per_second_sp = 200
self.d.start()
time.sleep(5)
self.d.stop()
def test_run_forever(self):
self.d.run_forever(50, regulation_mode=False)
time.sleep(5)
self.d.stop()
self.d.run_forever(200, regulation_mode=True)
time.sleep(5)
self.d.stop()
def test_run_time_limited(self):
self.d.run_time_limited(time_sp=10000,
speed_sp=80,
regulation_mode=False,
stop_mode=Motor.STOP_MODE.COAST,
ramp_up_sp=1000,
ramp_down_sp=1000)
time.sleep(12)
def test_run_position_limited(self):
self.d.position = 0
self.d.run_position_limited(position_sp=360,
speed_sp=800,
stop_mode=Motor.STOP_MODE.BRAKE,
ramp_up_sp=1000,
ramp_down_sp=1000)
time.sleep(5)
def test_run_position_limited_relative(self):
self.d.position_mode = Motor.POSITION_MODE.RELATIVE
self.d.run_position_limited(position_sp=160,
speed_sp=800,
stop_mode=Motor.STOP_MODE.BRAKE,
ramp_up_sp=1000,
ramp_down_sp=1000)
time.sleep(5)
class TestMotor(unittest.TestCase):
get_input('Attach a motor on port A then continue')
def __init__(self,*args, **kwargs):
super(TestMotor, self).__init__(*args, **kwargs)
self.d=Motor(port=Motor.PORT.A)
def setUp(self):
self.d.reset()
def test_run(self):
self.d.run_mode = 'forever'
self.d.regulation_mode = True
self.d.pulses_per_second_sp = 200
self.d.start()
time.sleep(5)
self.d.stop()
def test_run_forever(self):
self.d.run_forever(50, regulation_mode=False)
time.sleep(5)
self.d.stop()
self.d.run_forever(200, regulation_mode=True)
time.sleep(5)
self.d.stop()
def test_run_time_limited(self):
self.d.run_time_limited(time_sp=10000, speed_sp=80, regulation_mode=False,
stop_mode=Motor.STOP_MODE.COAST, ramp_up_sp=1000, ramp_down_sp=1000)
time.sleep(12)
def test_run_position_limited(self):
self.d.position=0
self.d.run_position_limited(position_sp=360, speed_sp=800,
stop_mode=Motor.STOP_MODE.BRAKE , ramp_up_sp=1000, ramp_down_sp=1000)
time.sleep(5)
def test_run_position_limited_relative (self):
self.d.position_mode=Motor.POSITION_MODE.RELATIVE
self.d.run_position_limited(position_sp=160, speed_sp=800,
stop_mode=Motor.STOP_MODE.BRAKE , ramp_up_sp=1000, ramp_down_sp=1000)
time.sleep(5)
