def test_set(self):
ms = MotorSet(motors=self.ctrl.motors)
ms.goal_position_bytes = 150
time.sleep(0.05)
self.assertEqual(ms.motors[0].goal_position_bytes, 150)
self.assertEqual(ms.motors[1].goal_position_bytes, 150)
ms.position_bytes = (100, 200)
time.sleep(0.05)
self.assertEqual(ms.motors[0].goal_position_bytes, 100)
self.assertEqual(ms.motors[1].goal_position_bytes, 200)
with self.assertRaises(AttributeError):
ms.does_not_exist = 100
def test_get(self):
ms = MotorSet(motors=self.ctrl.motors)
self.assertEqual(len(ms.position), len(self.ctrl.motors))
self.assertEqual(len(ms.position), 2)
with self.assertRaises(AttributeError):
ms.does_not_exist
def test_expand_values(self):
ms = MotorSet(motors=self.ctrl.motors)
ms.moving_speed = 0
ms.moving_speed = [0, 10]
ms.angle_limits = [0, 10]
ms.angle_limits = [[-100, 100], [-150, 150]]
ms.angle_limits = (-150, 150)
def test_empty(self):
ms = MotorSet(motors=[])
ms.pose = []
with self.assertRaises(AttributeError):
ms.punch
with self.assertRaises(AttributeError):
ms.punch = 50
ms.punch = []
ms.does_not_exist = []
def test_motor_properties(self):
ms = MotorSet(motors=self.ctrl.motors)
ms.moving_speed = 0
ms.moving_speed
def test_properties(self):
ms = MotorSet(motors=self.ctrl.motors)
ms.zero_pose = -150
ms.zero_pose
ms.pose = 0
ms.pose
def test_iadd(self):
ms = MotorSet(motors=self.ctrl.motors)
ms.position += 10
def test_dir(self):
ms = MotorSet(motors=self.ctrl.motors)
self.assertTrue('compliant' in dir(ms))
self.assertTrue('present_temperature_bytes' in dir(ms))
self.assertTrue('request_write' in dir(ms))
def test_bundles(self):
ms = MotorSet(motors=self.ctrl.motors)
ms.cw_angle_limit = 150
ms.angle_limits = (-150, 150)
def test_error(self):
ms = MotorSet(motors=self.ctrl.motors)
ms.cw_angle_limit = 150
time.sleep(0.1)
with self.assertRaises(exc.MotorError):
ms.cw_angle_limit = 100
def test_error(self):
ms = MotorSet(motors=self.ctrl.motors)
ms.cw_angle_limit = 150
time.sleep(0.1)
with self.assertRaises(exc.MotorError):
ms.cw_angle_limit = 100