public void FollowingWallOnLeftWithCorner()
{
// put robot over the line
TestMap1Factory.PutRobotInB(robot);
brain.AddCommand(new GenericSingleStateCommand(new FollowingWallOnLeftState(5, 10)));
for (int t = 0; t < 30; t++)
{
environment.Tick();
}
Assert.True(robot.Location.Y > 170); // Turned along wall and moved south.
}
public void FollowingWallOnRightWithCorner()
{
// put robot over the line
TestMap1Factory.PutRobotInB(robot);
brain.CurrentState = new FollowingWallOnRightState(5, 10);
for (int t = 0; t < 30; t++)
{
environment.Tick();
}
Assert.True(robot.Location.Y < 130); // Turned along wall and moved north.
}
public void FollowingLineWithCorner()
{
// put robot over the line
TestMap1Factory.PutRobotInA(robot);
brain.AddCommand(new GenericSingleStateCommand(new FollowingLineState(1.0)));
Assert.True(brain.CurrentState is FollowingLineState);
Assert.Equal(0.0, robot.Acceleration, 2);
environment.Tick();
// State should accelerate
Assert.True(robot.Acceleration > 0.1);
for (int t = 0; t < 100; t++)
{
environment.Tick();
}
Assert.True(robot.Location.X > 60); // Turned and moved right (along line).
}
