public void CanGetMovementFromLeftTibiaZeroOffset()
{
ServoBase tibia = new ServoBase(10.4, 0, 5, 0, 0, Side.Left);
MovmentComandAX12 movmentComandAX12 = tibia.GetMovement();
List<byte> movmentInBytes = (List<byte>) movmentComandAX12.ToByte();
Assert.AreEqual(5, movmentInBytes[0]); //ServoId
Assert.AreEqual(0x1ff, BitConverter.ToInt16(movmentInBytes.ToArray(), 1));
Assert.AreEqual(0x050, BitConverter.ToInt16(movmentInBytes.ToArray(), 3));
}
public void CanGetMovementForLeftCoxaWithOffset()
{
ServoBase coxa = new ServoBase(10.4, 20, 5, 0, 0, Side.Left);
MovmentComandAX12 movmentComandAX12 = coxa.GetMovement();
List<byte> movmentInBytes = (List<byte>)movmentComandAX12.ToByte();
Assert.AreEqual(5, movmentInBytes[0]); //ServoId
Assert.AreEqual(0x1BB, BitConverter.ToInt16(movmentInBytes.ToArray(), 1));
Assert.AreEqual(0x050, BitConverter.ToInt16(movmentInBytes.ToArray(), 3));
}
public void CanGetMovementForRightFemurWithOffset()
{
ServoBase servoBase = new ServoBase(10.4, 20, 5, 0, 0, Side.Right);
MovmentComandAX12 movmentComandAX12 = servoBase.GetMovement();
List<byte> movmentInBytes = (List<byte>)movmentComandAX12.ToByte();
Assert.AreEqual(5, movmentInBytes[0]); //ServoId
Assert.AreEqual(0x243, BitConverter.ToInt16(movmentInBytes.ToArray(), 1));
Assert.AreEqual(0x050, BitConverter.ToInt16(movmentInBytes.ToArray(), 3));
}