private static async Task ResetToZeroAsync(TestScriptExecutionContext context, TTechnicMotor motor, int expectedTime)
{
await motor.GotoPositionAsync(0, 10, 100);
await Task.Delay(expectedTime);
context.Assert(motor.AbsolutePosition, -3, 3);
context.Assert(motor.Position, -3, 3);
await context.ConfirmAsync("TachoMotor.GotoPositionAsync: has moved to zero position?");
}
private static async Task TestCase1_TachoMotorPositionByDegreesAsync(TestScriptExecutionContext context, TTechnicMotor motor)
{
context.Log.LogInformation("TachoMotor: Testing positioning by degress");
await motor.StartSpeedForDegreesAsync(45, 10, 100);
await Task.Delay(2000);
context.Assert(motor.AbsolutePosition, 42, 48);
context.Assert(motor.Position, 42, 48);
await motor.StartSpeedForDegreesAsync(45, 10, 100);
await Task.Delay(2000);
context.Assert(motor.AbsolutePosition, 87, 93);
context.Assert(motor.Position, 87, 93);
await motor.StartSpeedForDegreesAsync(45, 10, 100);
await Task.Delay(2000);
context.Assert(motor.AbsolutePosition, 132, 138);
context.Assert(motor.Position, 132, 138);
await motor.StartSpeedForDegreesAsync(45, 10, 100);
await Task.Delay(2000);
context.Assert(Math.Abs(motor.AbsolutePosition), 177, 180);
context.Assert(motor.Position, 177, 183);
await context.ConfirmAsync("TachoMotor.StartSpeedForDegreesAsync: Has moved 40 times CW each by 45°?");
}
private static async Task TestCase2_TachoMotorExplicitPositionAsync(TestScriptExecutionContext context, TTechnicMotor motor)
{
context.Log.LogInformation("TachoMotor: Testing explicit position from TachoMotor.SetZero");
await motor.GotoPositionAsync(360, 10, 100);
await Task.Delay(2000);
context.Assert(motor.AbsolutePosition, -3, 3);
context.Assert(motor.Position, 357, 363);
await context.ConfirmAsync("TachoMotor.GotoPositionAsync: has moved CW to zero position?");
await motor.GotoPositionAsync(810, 10, 100);
await Task.Delay(4000);
context.Assert(motor.AbsolutePosition, 87, 93);
context.Assert(motor.Position, 807, 813);
await context.ConfirmAsync("TachoMotor.GotoPositionAsync: Motor has moved CW by 360° + 90° and is exaclty 90° off zero?");
}