def test_backward(self):
""" Tests to make sure moves backward correctly """
hbridge = HBridge(DigitalOutput(10),
PWM(13),
DigitalOutput(24),
PWM(18))
hbridge.set_speed(-1, -1)
self.assertEqual(hbridge.left_pin.state, 1)
self.assertEqual(hbridge.left_pwm.duty_cycle, 1)
self.assertEqual(hbridge.right_pin.state, 1)
self.assertEqual(hbridge.right_pwm.duty_cycle, 1)
def test_pivotleft(self):
""" Tests to make sure turns left correctly """
hbridge = HBridge(DigitalOutput(10),
PWM(13),
DigitalOutput(24),
PWM(18))
hbridge.set_speed(0, 1)
self.assertEqual(hbridge.left_pin.state, 0)
self.assertEqual(hbridge.left_pwm.duty_cycle, 1)
self.assertEqual(hbridge.right_pin.state, 0)
self.assertEqual(hbridge.right_pwm.duty_cycle, 0)
def test_initially_stopped(self):
""" Test bot is in stopped state """
hbridge = HBridge(DigitalOutput(10),
PWM(13),
DigitalOutput(24),
PWM(18))
hbridge.set_speed(0,0)
self.assertEqual(hbridge.left_pin.state, 0)
self.assertEqual(hbridge.left_pwm.duty_cycle, 1)
self.assertEqual(hbridge.right_pin.state, 0)
self.assertEqual(hbridge.right_pwm.duty_cycle, 1)