def test_target_tolerances_no_return(self):
control = Control()
result = control.target_tolerances(0)
self.assertIsNone(result)
result = control.target_tolerances(0, 0)
self.assertIsNone(result)
def test_target_tolerances_return(self):
control = Control()
result = control.target_tolerances()
self.assertIsInstance(result, tuple)
self.assertEqual(2, len(result))
self.assertIsInstance(result[0], int)
self.assertIsInstance(result[1], int)
self.assertEqual(0, result[0])
self.assertEqual(0, result[1])
def test_limits_no_return(self):
control = Control()
result = control.limits(0)
self.assertIsNone(result)
result = control.limits(0, 0)
self.assertIsNone(result)
result = control.limits(0, 0, 0)
self.assertIsNone(result)
def test_limits_return(self):
control = Control()
result = control.limits()
self.assertIsInstance(result, tuple)
self.assertEqual(3, len(result))
self.assertIsInstance(result[0], int)
self.assertIsInstance(result[1], int)
self.assertIsInstance(result[2], int)
self.assertEqual(0, result[0])
self.assertEqual(0, result[1])
self.assertEqual(0, result[2])
def __init__(self,
port: Port,
positive_direction: Direction = Direction.CLOCKWISE,
gears: Union[List[int], List[List[int]]] = None):
if port == Port.S1 or port == Port.S2 or port == port.S3 or port == port.S4:
raise ValueError("Motors must use Port A, B, C, or D.")
self.control = Control() # type: Control
def test_pid_return(self):
control = Control()
result = control.pid()
self.assertIsInstance(result, tuple)
self.assertEqual(6, len(result))
self.assertIsInstance(result[0], int)
self.assertIsInstance(result[1], int)
self.assertIsInstance(result[2], int)
self.assertIsInstance(result[3], int)
self.assertIsInstance(result[4], int)
self.assertIsInstance(result[5], int)
self.assertEqual(0, result[0])
self.assertEqual(0, result[1])
self.assertEqual(0, result[2])
self.assertEqual(0, result[3])
self.assertEqual(0, result[4])
self.assertEqual(0, result[5])
def test_pid_no_return(self):
control = Control()
result = control.pid(0)
self.assertIsNone(result)
result = control.pid(0, 0)
self.assertIsNone(result)
result = control.pid(0, 0, 0)
self.assertIsNone(result)
result = control.pid(0, 0, 0, 0)
self.assertIsNone(result)
result = control.pid(0, 0, 0, 0, 0)
self.assertIsNone(result)
result = control.pid(0, 0, 0, 0, 0, 0)
self.assertIsNone(result)
def test_done(self):
control = Control()
result = control.done()
self.assertIsInstance(result, bool)
self.assertFalse(result)
def test_scale_is_float(self):
control = Control()
self.assertIsInstance(control.scale, float)
def test_stalled(self):
control = Control()
result = control.stalled()
self.assertIsInstance(result, bool)
self.assertFalse(result)
def __init__(self, left_motor: Motor, right_motor: Motor,
wheel_diameter: int, axle_track: int):
self.distance_control = Control() # type: Control
self.heading_control = Control() # type: Control