public void LoadPopCornScoringTests(LogicPart logic, RMRules rules)
{
AddTest(logic, "PopCorn_Scores_StartingArea", ScoreTest(
4,
rules.Move(64),
rules.Rotate(-Angle.HalfPi),
rules.Stand(0.1),
rules.Grip(),
rules.Rotate(Angle.HalfPi),
rules.Move(-54),
rules.Stand(0.1),
rules.Release()
));
AddTest(logic, "PopCorn_Scores_UpperCinema", ScoreTest(
4,
rules.Move(64),
rules.Rotate(-Angle.HalfPi),
rules.Stand(0.1),
rules.Grip(),
rules.Rotate(Angle.HalfPi),
rules.Move(130),
rules.Rotate(Angle.HalfPi),
rules.Move(40),
rules.Rotate(-Angle.HalfPi),
rules.Move(60),
rules.Stand(0.1),
rules.Release()
));
AddTest(logic, "PopCorn_Scores_BottomCinema", ScoreTest(
4,
rules.Move(64),
rules.Rotate(-Angle.HalfPi),
rules.Stand(0.1),
rules.Grip(),
rules.Rotate(Angle.HalfPi),
rules.Move(130),
rules.Rotate(-Angle.HalfPi),
rules.Move(40),
rules.Rotate(Angle.HalfPi),
rules.Move(60),
rules.Stand(0.1),
rules.Release()
));
AddTest(logic, "PopCorn_Scores_BuildingArea", ScoreTest(
0,
rules.Move(115),
rules.Rotate(Angle.HalfPi),
rules.Move(-60),
rules.Stand(0.1),
rules.Grip(),
rules.Move(-15),
rules.Stand(0.1),
rules.Release(),
rules.Move(40),
rules.Stand(0.1)
));
AddTest(logic, "PopCorn_Scores_TwoCupsSameLocation", ScoreTest(
4,
rules.Move(115),
rules.Rotate(Angle.HalfPi),
rules.Move(-60),
rules.Stand(0.1),
rules.Grip(),
rules.Move(60),
rules.Rotate(-Angle.HalfPi),
rules.Move(-115),
rules.Stand(0.1),
rules.Release(),
rules.Move(64),
rules.Rotate(-Angle.HalfPi),
rules.Stand(0.1),
rules.Grip(),
rules.Rotate(Angle.HalfPi),
rules.Move(-40),
rules.Stand(0.1),
rules.Release()
));
AddTest(logic, "PopCorn_Scores_TwoCupsDiffLocations", ScoreTest(
4 + 4,
rules.Move(115),
rules.Rotate(Angle.HalfPi),
rules.Move(-60),
rules.Stand(0.1),
rules.Grip(),
rules.Move(60),
rules.Rotate(-Angle.HalfPi),
rules.Move(-115),
rules.Stand(0.1),
rules.Release(),
rules.Move(64),
rules.Rotate(-Angle.HalfPi),
rules.Stand(0.1),
rules.Grip(),
rules.Rotate(Angle.HalfPi),
rules.Move(130),
rules.Rotate(-Angle.HalfPi),
rules.Move(40),
rules.Rotate(Angle.HalfPi),
rules.Move(60),
rules.Stand(0.1),
rules.Release()
));
AddTest(logic, "PopCorn_Scores_GrippedShouldBeZero", ScoreTest(
0,
rules.Move(64),
rules.Rotate(-Angle.HalfPi),
rules.Stand(0.1),
rules.Grip(),
rules.Rotate(Angle.HalfPi),
rules.Move(-64),
rules.Stand(0.1)
));
AddTest(logic, "PopCorn_Scores_FilledCup", ScoreTest(
5,
rules.Move(64),
rules.Rotate(-Angle.HalfPi),
rules.Stand(0.1),
rules.Grip(),
rules.Rotate(Angle.HalfPi),
rules.Move(-30),
rules.Rotate(-Angle.HalfPi),
rules.Move(-70),
rules.Stand(0.1),
rules.GetPopCorn(),
rules.Move(70),
rules.Rotate(Angle.HalfPi),
rules.Move(-10),
rules.Stand(0.1),
rules.Release()
));
AddTest(logic, "PopCorn_Scores_TwoCupsFilled", ScoreTest(
5,
rules.Move(115),
rules.Rotate(Angle.HalfPi),
rules.Move(-60),
rules.Stand(0.1),
rules.Grip(),
rules.Move(60),
rules.Rotate(-Angle.HalfPi),
rules.Move(-115),
rules.Stand(0.1),
rules.Release(),
rules.Move(64),
rules.Rotate(-Angle.HalfPi),
rules.Stand(0.1),
rules.Grip(),
rules.Rotate(Angle.HalfPi),
rules.Move(-30),
rules.Rotate(-Angle.HalfPi),
rules.Move(-70),
rules.Stand(0.1),
rules.GetPopCorn(),
rules.Move(70),
rules.Rotate(Angle.HalfPi),
rules.Move(-10),
rules.Stand(0.1),
rules.Release()
));
}
public void LoadPopCornFillingTests(LogicPart logic, RMRules rules)
{
AddTest(logic, "PopCorn_Scores_SensorWorking", PopCornTest(
4,
rules.Move(64),
rules.Rotate(-Angle.HalfPi),
rules.Stand(0.1),
rules.Grip()
));
AddTest(logic, "PopCorn_Filling_CheckWorking", PopCornTest(
4 + 1,
rules.Move(64),
rules.Rotate(-Angle.HalfPi),
rules.Stand(0.1),
rules.Grip(),
rules.Rotate(Angle.HalfPi),
rules.Move(-30),
rules.Rotate(-Angle.HalfPi),
rules.Move(-70),
rules.Stand(0.1),
rules.GetPopCorn()
));
AddTest(logic, "PopCorn_Filling_Backward", PopCornTest(
4,
rules.Move(64),
rules.Rotate(-Angle.HalfPi),
rules.Stand(0.1),
rules.Grip(),
rules.Rotate(Angle.HalfPi),
rules.Move(-30),
rules.Rotate(Angle.HalfPi),
rules.Move(70),
rules.Stand(0.1),
rules.GetPopCorn()
));
AddTest(logic, "PopCorn_Filling_DispenserLimit", PopCornTest(
4 + 5, // not 4 + 6 !
rules.Move(64),
rules.Rotate(-Angle.HalfPi),
rules.Stand(0.1),
rules.Grip(),
rules.Rotate(Angle.HalfPi),
rules.Move(-30),
rules.Rotate(-Angle.HalfPi),
rules.Move(-70),
rules.Stand(0.1),
rules.GetPopCorn(),
rules.GetPopCorn(),
rules.GetPopCorn(),
rules.GetPopCorn(),
rules.GetPopCorn(),
rules.GetPopCorn()
));
AddTest(logic, "PopCorn_Filling_CupLimit", PopCornTest(
10,
rules.Move(64),
rules.Rotate(-Angle.HalfPi),
rules.Stand(0.1),
rules.Grip(),
rules.Rotate(Angle.HalfPi),
rules.Move(-30),
rules.Rotate(-Angle.HalfPi),
rules.Move(-70),
rules.Stand(0.1),
rules.GetPopCorn(),
rules.GetPopCorn(),
rules.GetPopCorn(),
rules.GetPopCorn(),
rules.GetPopCorn(),
rules.Rotate(Angle.HalfPi),
rules.Move(-30),
rules.Rotate(-Angle.HalfPi),
rules.Stand(0.1),
rules.GetPopCorn(),
rules.GetPopCorn(),
rules.GetPopCorn(),
rules.GetPopCorn(),
rules.GetPopCorn()
));
AddTest(logic, "PopCorn_Filling_EmptyGripper", PopCornTest(
0,
rules.Move(34),
rules.Rotate(-Angle.HalfPi),
rules.Move(-75),
rules.Stand(0.1),
rules.GetPopCorn(),
rules.GetPopCorn(),
rules.GetPopCorn()
));
}